WO2006043319A1 - Terminal and server - Google Patents

Terminal and server Download PDF

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Publication number
WO2006043319A1
WO2006043319A1 PCT/JP2004/015497 JP2004015497W WO2006043319A1 WO 2006043319 A1 WO2006043319 A1 WO 2006043319A1 JP 2004015497 W JP2004015497 W JP 2004015497W WO 2006043319 A1 WO2006043319 A1 WO 2006043319A1
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WO
WIPO (PCT)
Prior art keywords
terminal
information
server
video
label
Prior art date
Application number
PCT/JP2004/015497
Other languages
French (fr)
Japanese (ja)
Inventor
Taizo Anan
Original Assignee
Fujitsu Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu Limited filed Critical Fujitsu Limited
Priority to PCT/JP2004/015497 priority Critical patent/WO2006043319A1/en
Publication of WO2006043319A1 publication Critical patent/WO2006043319A1/en

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00Manipulating 3D models or images for computer graphics
    • G06T19/006Mixed reality
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Definitions

  • the present invention relates to a technique for acquiring information in a video.
  • the present invention also relates to a technique for realizing augmented reality.
  • This technology is called mixed reality or augmented reality.
  • a user usually wears a glasses-type display device called a head-mounted display.
  • information related to the landscape in front of the user is searched using the geographical position of the user, the face orientation, and information in the landscape image in front of the user as keys. And it becomes CG by the information power display device about the scenery spreading in front of the user.
  • This CG is synthesized with the actual video. And this real image and Video power synthesized with CG Presented to the user.
  • this technology displays a guide that points to the parts that need to be inspected for workers looking at a broken machine.
  • this technology displays a guide that points to the parts that need to be inspected for workers looking at a broken machine.
  • an ultrasonic image of the internal organs is superimposed on the image of the surface of the patient's body and displayed to the observer. For this reason, this technique has the effect that an observer such as a doctor is performing power surgery while looking at X-rays.
  • the technology also displays information about the patient's blood type and the drug being administered. Therefore, this technology presents information that prevents medical errors.
  • a major problem of the system for realizing such a mixed reality is to superimpose the real-world video and the CG video with high accuracy.
  • the composite reality system detects the position and orientation of the user's head so that the superimposed virtual world image overlaps the real world image in the field of view with high accuracy.
  • Patent Document 2 to Patent Document 4 describe a method of superimposing images using a magnetic sensor.
  • a server is inquired about acquisition of information based on an image obtained by a portable camera terminal. That is, Patent Document 1 describes a means for a terminal to obtain desired information from a server.
  • Patent Document 1 Japanese Patent Laid-Open No. 9-330336
  • Patent Document 2 JP 2000-102036 A
  • Patent Document 3 Japanese Patent Laid-Open No. 2002-259992
  • Patent Document 4 Japanese Patent Laid-Open No. 2002-271691
  • Patent Document 5 Japanese Unexamined Patent Publication No. 2000-276613
  • Patent Document 6 Special Table 2003—533815
  • Patent Document 7 JP-A-10-267671
  • Non-Patent Document 1 Takashi Matsuyama, Yoshinori Kuno, Ito, “Computer Vision Technology Review and Future Prospects”, Chapter 3, New Technology Communications
  • Patent Document 1 The technique described in Patent Document 1 is a technique for obtaining information on a restaurant XXX in front of a user whose terminal is in Shibuya, for example. To that end, (1) the terminal recognizes that it is in Shibuya using the Global Positioning System (hereinafter referred to as GPS). Then, (2) the terminal takes a picture of the restaurant XXX. Then, (3) the terminal sends the information recognized in (1) and the captured information to the server. (4) The terminal receives the information about the restaurant XXX from Sanoku.
  • GPS Global Positioning System
  • the terminal acquires information about a restaurant in front of the user through the steps (1) to (4).
  • the image recognition unit generates a search key for information. Therefore, (a) the technique described in Patent Document 1 must register, for example, signboards of restaurants in Shibuya in the database.
  • the technique described in (b) Patent Document 1 cannot be applied to a signboard or the like that has relatively easy image recognition. That is, the observed landscape varies depending on the viewing direction even at the same position. Therefore, when the technique described in Patent Document 1 is applied to landscapes, a lot of images must be taken at the same point and registered in the database. As described above, the technique described in Patent Document 1 has a problem that it can be used only for very limited purposes.
  • Patent Document 2 to Patent Document 4 and the technique described in Patent Document 7 use a magnetic sensor.
  • the technique described in Patent Document 6 uses an acceleration sensor.
  • Patent Document 1 does not manage information based on time. For this reason, the technology described in Patent Document 1 provides user-friendly functions such as presenting information related to restaurants as information presented at noon, and removing information power at restaurants that do not provide lunch. Have a cunning,.
  • An object of the present invention is to provide a technique for accurately calculating information related to the position of a terminal that acquires video. Furthermore, an object of the present invention is to provide a technique for effectively superimposing a landscape video and a video of information related to the landscape.
  • the terminal of the present invention provides:
  • Video acquisition means for acquiring a video of the shooting target having a pattern for calculating a direction of shooting the shooting target and a distance between the shooting target;
  • Computation means for calculating from the image of the pattern the direction in which the subject is photographed and the distance between the subject.
  • the terminal of the present invention includes:
  • the pattern is the same pattern as a calibration pattern for calibrating the terminal
  • the calculation means calculates a direction between the shooting target and a distance between the shooting target from the image of the pattern and the parameters obtained by the calibration.
  • Distance measuring means for measuring the distance to the object to be photographed is provided.
  • the terminal of the present invention is a terminal of the present invention.
  • Position measuring means for measuring the position of the terminal is provided.
  • the terminal of the present invention includes:
  • the imaging target includes identification information for identifying a plurality of imaging targets from each other.
  • the terminal of the present invention provides:
  • the image of the pattern acquired by the image acquisition means and the parameter obtained by the calibration performed in advance are transmitted to the server, and the imaging object calculated by the server based on the image and parameter of the pattern Inquiry means for receiving from the server the direction of shooting and the distance to the shooting target.
  • the terminal power is connected by a network to a server that selects information to be transmitted to the terminal based on the received information
  • Transmitting means for transmitting to the server at least one of the direction in which the subject is photographed and the distance between the subject and the image of the pattern and the parameter obtained in advance by calibration.
  • the terminal of the present invention includes:
  • the transmission means includes
  • At least one of the position of the terminal and identification information for identifying each of a plurality of shooting targets included in the shooting target is transmitted to the server.
  • the terminal of the present invention includes:
  • Combining means for combining the video acquired by the video acquiring means and the video based on the information received by the receiving means is provided.
  • Display means for displaying the information received by the receiving means as a web page is provided.
  • the terminal of the present invention includes:
  • a video tracking unit configured to detect a distance moved by the terminal and a direction moved by the terminal based on a change in video acquired by the terminal, which is generated in accordance with the movement of the terminal; The video acquired by the means and the information displayed on the video are combined based on the distance moved by the terminal detected by the video following means and the direction in which the terminal moved.
  • the server of the present invention includes:
  • the terminal receives at least one of the direction in which the subject was photographed and the distance between the subject and the image of the subject to be photographed including the pattern and the parameters obtained by the calibration performed in advance.
  • Receiving means
  • Information management means for extracting information from data storage means for storing information based on the information received by the receiving means
  • Transmitting means for transmitting the information extracted by the information management means to the terminal.
  • the server of the present invention includes:
  • the receiving unit receives at least one of identification information for mutually identifying a position of the terminal and a plurality of shooting targets included in the shooting target,
  • the information management means is at least one of the information transmitted from the terminal received by the receiving means and the identification information for mutually identifying the position of the terminal and a plurality of photographing objects included in the photographing object To extract information from the data storage means.
  • the server of the present invention provides:
  • the information stored in the data storage means is not limited to
  • the information management means includes information received by the receiving means, a time when the information is received, To extract information from the data storage means.
  • the present invention calculates the distance between the shooting direction of the shooting target and the shooting target based on the pattern acquired by the terminal. Therefore, according to the present invention, the orientation of the terminal and the distance to the subject can be accurately calculated.
  • the pattern is the same pattern as the calibration pattern for calibrating the terminal. Then, the calculation means calculates the distance between the direction in which the photographing target is photographed and the photographing target from the image of the pattern and the parameters obtained by the calibration. Therefore, the present invention can accurately calculate the orientation of the terminal and the distance to the shooting target.
  • the distance between the terminal and the object to be imaged can be accurately measured by the distance measuring means.
  • the position of the terminal can be accurately measured by the position measuring means.
  • the present invention it is possible to identify a subject to be photographed based on identification information. Further, the present invention causes the server to calculate the direction in which the photographing object is photographed and the distance between the photographing objects. Therefore, the present invention can reduce the load on the terminal.
  • the server is based on at least one of the direction in which the subject is photographed and the distance between the subject and the parameters obtained by the pattern image and the calibration. Send information to the terminal. Therefore, according to the present invention, the terminal can receive appropriate information from the server.
  • the terminal transmits at least one of identification information for identifying the position of the terminal and a plurality of shooting targets included in the shooting target to the server. Then, the server selects information to be transmitted to the terminal using at least one of the identification information for mutually identifying the position of the terminal received from the terminal and the plurality of imaging targets included in the imaging target. Therefore, according to the present invention, the terminal can receive appropriate information from the server.
  • the synthesizing unit synthesizes the video acquired by the video acquiring unit and the video based on the information received by the receiving unit. For this reason, the present invention provides information received by the user. It can be recognized by the synthesized video.
  • the display means displays the video synthesized by the synthesizing means as a computer dullix image. Therefore, the present invention can improve the visibility of the synthesized video.
  • the display means displays the information received by the receiving means as a web page. Therefore, according to the present invention, the user can accurately grasp the displayed information.
  • the synthesizing unit detects the distance moved by the terminal detected by the video tracking unit and the moving of the video acquired by the video acquiring unit and the video based on the information received by the receiving unit. Based on the orientation. Therefore, according to the present invention, the synthesized video can take into account the movement of the terminal.
  • the information management means extracts information from the data storage means for storing information based on the information received by the receiving means. Then, the server transmits the information extracted by the information management means to the terminal. Therefore, according to the present invention, the server can transmit information corresponding to the information transmitted from the terminal to the terminal.
  • the information management unit includes identification information for identifying the information transmitted from the terminal received by the receiving unit and the position of the terminal and a plurality of shooting targets included in the shooting target from each other. Using at least one of them, data storage means force information in which information is stored is extracted. Therefore, according to the present invention, information transmitted from the server to the terminal can be made appropriate.
  • the information stored in the data storage means is classified based on the information received by the receiving means and the time.
  • the information management means extracts information from the data storage means based on the information received by the receiving means and the time. Therefore, the present invention can consider time as information to be transmitted to the terminal.
  • FIG. 1 is a conceptual diagram of a method for measuring the orientation of a camera with respect to a label and the distance between the camera and the label in the first embodiment of the terminal of the present invention.
  • FIG. 2 is a schematic diagram showing an example of a label used in the first embodiment of the terminal of the present invention.
  • ⁇ 3 It is a block diagram of an internal configuration of the first exemplary embodiment of the terminal of the present invention.
  • ⁇ 4 It is a block diagram of the internal configuration of the second embodiment of the terminal of the present invention.
  • FIG. 5 is a block diagram of an internal configuration of the third exemplary embodiment of the terminal of the present invention.
  • FIG. 7 is a schematic diagram of an information providing system in which the fifth embodiment of the terminal of the present invention is used.
  • FIG. 8 is a schematic diagram of an information providing system in which the sixth embodiment of the terminal of the present invention is used.
  • FIG. 9 is a conceptual diagram of an image displayed in the sixth embodiment of the terminal of the present invention.
  • ⁇ 11 It is a conceptual diagram for explaining the operation of the video follower in the seventh embodiment of the terminal of the present invention.
  • ⁇ 12 It is a conceptual diagram for explaining the operation of the video follower in the seventh embodiment of the terminal of the present invention.
  • FIG. 13 is a block diagram of the internal configuration of the first exemplary embodiment of the server of the present invention.
  • FIG. 14 is a block diagram of an internal configuration of a second embodiment of the server of the present invention.
  • a first embodiment of the terminal of the present invention will be described.
  • the terminal of this embodiment is a camera Is provided.
  • a mobile phone is used as the terminal of this embodiment.
  • the terminal of the embodiment of the present invention other than the first embodiment and the terminal used in each embodiment of the server of the present invention are also assumed to be mobile phones.
  • the functions of the respective units of the embodiments of the terminal and server of the present invention described below may be realized by appropriately cooperating with, for example, a program stored in the CPU power memory and other devices. .
  • the calibration is assumed to be performed in advance at a camera manufacturing factory, for example.
  • the terminal of the present embodiment uses a label including a calibration pattern (hereinafter also simply referred to as a label), and the orientation of a camera (hereinafter also simply referred to as a camera) mounted on the terminal, Measure the distance between the camera and the label.
  • a label including a calibration pattern (hereinafter also simply referred to as a label), and the orientation of a camera (hereinafter also simply referred to as a camera) mounted on the terminal, Measure the distance between the camera and the label.
  • Non-Patent Document 1 can measure the orientation of the camera with respect to the label and the distance between the camera and the label. Also in this embodiment, the method described in Non-Patent Document 1 is used.
  • FIG. 1 is a conceptual diagram of a method for measuring the orientation of a camera with respect to a label and the distance between the camera and the label in the first embodiment of the terminal of the present invention.
  • the method of measuring the orientation of the camera with respect to the label and the distance between the camera and the label which will be described below, is a terminal of an embodiment other than the first embodiment of the terminal of the present invention, and The present invention can also be applied to each embodiment of the server of the present invention.
  • N Number of CCD elements in ⁇ direction, number of samples per scan line
  • the coordinates of the point P in the reference world coordinate O are (X, y, z w— xw— w ⁇ zw w w w w
  • O represents the lens center (pinhole), and the z-axis is set to match the optical axis of the lens.
  • step. 1 Conversion from (x, y, z) to (x, y, z)
  • step. 2 Conversion from (x, y, z) to (X, Y ⁇ ) by perspective transformation:
  • step. 3 Conversion from (X, Y) to (X, Y):
  • D 1 and D 2 are expressed as follows using distortion coefficients ⁇ and ⁇ in the radial direction of the lens as follows:
  • step .4 Conversion from (X, Y) to (X, Y):
  • s is the scale factor
  • (C x , C) is the origin coordinate on the digital image
  • ⁇ ⁇ respectively, represents the interval between the number of CCD elements in the X and Y directions.
  • d is a correction of d using N in the X direction and N samples per scan line.
  • N, N, d ', d are obtained from the specifications of the camera and AZD transformation.
  • step.4 Find (X, Y) of N points.
  • Equation (10) is nonlinearly optimized z 1 2
  • FIG. 2 is a schematic diagram showing an example of a label used in the first embodiment of the terminal of the present invention.
  • the description of the label described below can be applied to the terminal of the embodiment other than the first embodiment of the terminal of the present invention and each embodiment of the server of the present invention.
  • the label is a pattern having a plurality of points, for example.
  • This pattern is a calibration pattern. That is, the label shown in FIG. 2 is the same as the label having the calibration pattern used to set the camera parameters by calibration.
  • a label having such a calibration pattern is arranged at each point in the real world.
  • the user then captures the label with a calibrated camera mounted on the terminal.
  • the terminal calculates the direction of the camera relative to the label and the distance between the label and the camera.
  • the terminal that recognizes the orientation of the camera with respect to the label and the distance between the label and the camera searches the information expressed in CG corresponding to the scenery in front of the user's eyes with a predetermined database power.
  • the terminal then synthesizes the information expressed in CG with the landscape video and displays it to the user through the display.
  • Non-Patent Document 1 As a method for obtaining the orientation of the camera with respect to the label and the distance between the camera and the label, for example, there is a method disclosed in Non-Patent Document 1 described above. In this embodiment, the method shown in Non-Patent Document 1 is used.
  • the terminal of this embodiment can determine the distance between the label and the force lens and the camera orientation. That is, the terminal of the present embodiment determines in advance a meter for determining the orientation of the camera with respect to the label and the distance between the label and the camera by calibration. Then, the terminal of the present embodiment determines the orientation of the camera with respect to the label (that is, the angle of the camera with respect to the label) and the label and the camera based on the determined parameter and the image obtained by capturing the calibration label. Find the distance.
  • FIG. 3 is a block diagram of the internal configuration of the first embodiment of the terminal of the present invention.
  • the terminal in the form includes a video acquisition unit 301 and a calibration calculation unit 302.
  • the video acquisition unit 301 acquires data of a captured video.
  • the video acquisition unit 301 is configured by a camera.
  • the calibration calculation unit 302 calculates the orientation of the camera with respect to the label and the distance between the label and the camera from the calibration pattern shown in FIG. 2 existing in the acquired video. This calculation is a method for obtaining the world coordinates (X, y, z) of the point P from the image coordinates (X, Y) shown in the aforementioned Non-Patent Document 1.
  • the terminal according to the present embodiment executes the calibration shown in Non-Patent Document 1 described above in advance. Then, the terminal of the present embodiment stores the camera parameters calculated by the calibration in a memory (not shown). Then, the terminal according to the present embodiment uses this parameter to calculate the orientation of the camera with respect to the label and the distance between the label and the camera.
  • the label used in this embodiment may be a three-dimensional object! /.
  • the calibration pattern is changed for each surface of the three-dimensional label in order to know which surface the camera captures.
  • the camera may be an infrared camera.
  • the label may emit light or radio waves having a special wavelength.
  • the first embodiment of the terminal of the present invention acquires a video of a label on which a calibration pattern is formed. Then, the terminal calculates the direction of the camera with respect to the label and the distance between the camera and the label as well as the calibration turn force of the acquired video. Therefore, in this embodiment, the direction of the terminal on which the camera is mounted and the distance from the terminal label can be accurately measured.
  • FIG. 4 is a block diagram of the internal configuration of the second embodiment of the terminal of the present invention.
  • the terminal of the present embodiment is characterized in that a distance measurement unit 403 is newly provided as compared with the terminal of the first embodiment described above. That is, the function of the video acquisition unit 401 is the same as the function of the video acquisition unit 301 shown in FIG.
  • the function of the calibration calculation unit 402 is the same as the function of the calibration calculation unit 302 shown in FIG.
  • a highly reliable distance measuring unit 403 is provided. For this reason, the terminal of this embodiment can calculate the distance between the label and the camera with high accuracy by the distance measuring unit 403.
  • this embodiment can also measure distances using only labels, like the terminal of the first embodiment described above.
  • the distance measuring unit 403 can use an existing one, such as triangulation using millimeter radar or stereo vision.
  • the terminal of the present embodiment can obtain the same effects as those of the first embodiment of the terminal of the present invention described above, and accurately measures the distance between the terminal and the label. be able to.
  • FIG. 5 is a block diagram of the internal configuration of the third embodiment of the terminal of the present invention.
  • This embodiment is characterized in that the terminal is provided with a geographical position measurement unit 504, as compared with the second embodiment of the terminal of the present invention described above. That is, the function of the video acquisition unit 501 is the same as the function of the video acquisition unit 401 shown in FIG. The function of the calibration calculation unit 502 is the same as the function of the calibration calculation unit 402 shown in FIG. The function of the distance measurement unit 503 is the same as the function of the distance measurement unit 403 shown in FIG.
  • the geographical position measurement unit 504 is a sensor for acquiring position information such as GPS.
  • the geographical location measurement unit 504 is not limited to GPS, but can be implemented using other methods such as a method of measuring the geographical location using an IC tag, a wireless LAN, or a mobile phone base station.
  • the geographical position information indicating the position of the terminal on the map is measured by the geographical position measuring unit 504.
  • the terminal of this embodiment can obtain the same effects as those of the first embodiment or the second embodiment of the terminal of the present invention described above, and the location information ability of the geographical location measuring unit 504 can be determined in any region. You can see the label by shooting the label.
  • FIG. 6 is a schematic diagram of an example of a label used in the fourth embodiment of the terminal of the present invention.
  • the configuration of the terminal according to the present embodiment is the same as the configuration of the terminal according to the first embodiment of the present invention described above.
  • any one of the terminals described in this specification other than the first embodiment may be used.
  • the terminal of this embodiment is characterized by a calibration label photographed by the terminal.
  • the label of this embodiment describes the label ID 601 in the calibration label.
  • This ID 601 is composed of numbers, symbols, characters, figures, or any combination thereof that can be described on the label.
  • the ID 601 shown in FIG. This ID 601 is used to distinguish it from other labels. Therefore, in this embodiment, the calibration calculation unit of each terminal recognizes the ID 601 in the video. Then, the calibration calculation unit identifies the label that the terminal is photographing by ID. In addition, the terminal of the present embodiment stores a table for specifying a label corresponding to the ID in the memory.
  • the same ID 601 may exist as long as the label ID 601 is different in the region.
  • ID601 is 1, the same ID label may exist in Shinjuku and Sapporo.
  • a means for acquiring location information such as GPS is used to distinguish the region where the terminal is located. According to this GPS position information, in this embodiment, it is possible to distinguish whether the label ID 601 is from Sapporo or Shinjuku.
  • ID 601 is included in the label used by the terminal. Therefore, the terminal of the present embodiment can specify the label from which the video has been acquired based on ID601. Therefore, the terminal of the present embodiment has the same effect as that of the first embodiment of the present invention, or when the terminal of any of the other embodiments other than the first embodiment is used. As long as the same effect as the terminal of any of the other embodiments other than the form can be obtained, and the correspondence between ID601 and the region is known, the label of the region where the terminal is from ID601 of the label You can see if you are acquiring video. Therefore, in this embodiment, labels having the same calibration pattern can be used.
  • FIG. 7 is a schematic diagram of an information providing system in which the fifth embodiment of the terminal of the present invention is used.
  • the information providing system shown in FIG. 7 is a terminal 7 according to a fifth embodiment of the terminal of the present invention. 01, a network 702, and a server 703. Further, even if the label from which the terminal 701 of the present embodiment acquires an image is the label shown in FIG. 2, it is shown in FIG. 6 as described above in the fourth embodiment of the terminal of the present invention. A label with ID 601 may be used.
  • the terminal 701 includes a video acquisition unit 704, a calibration inquiry unit 705, a geographical position measurement unit 706, and a network communication unit 707.
  • the video acquisition unit 704 shown in FIG. 7 has the same function as the video acquisition unit 301 shown in FIG.
  • the geographical position measuring unit 706 shown in FIG. 7 has the same function as the geographical position measuring unit 504 shown in FIG.
  • the CPU of the terminal 701 is often inferior in performance compared to the CPU of a large terminal. Therefore, it is better to have a calculation such as calibration performed by a server having a higher computing capacity than the terminal via the network rather than the terminal.
  • the calibration inquiry unit 705 shown in FIG. 7 causes the server 703 to calculate the calibration. Therefore, the calibration inquiry unit 705 transmits an image including the calibration pattern to the server 703. In this case, the calibration inquiry unit 705 transmits the camera parameters obtained by the calibration to the server 703.
  • the network communication unit 707 controls communication between the terminal 701 and the server 703.
  • the terminal 701 transmits the video including the calibration pattern to the server 703 via the network 702.
  • Server 703 receives the video including the calibration pattern transmitted from terminal 701.
  • the server 703 receives camera parameters obtained by calibration transmitted from the terminal 701.
  • the server 703 calculates the camera direction and the distance between the label and the camera based on the received video and the camera parameters.
  • the server 703 transmits the calculation result to the calibration inquiry unit 705 via the network 702 and the network communication unit 707.
  • the calibration inquiry unit 705 receives the calculation result from the server 703.
  • the network 702 may be a mobile phone network! /, Or a network such as a wireless LAN.
  • the network communication unit 707 can include one or more available networks.
  • the server 703 calculates information such as the camera orientation relative to the label and the distance between the camera and the label. Therefore, in this embodiment, the same effects as those of the first embodiment, the third embodiment, and the fourth embodiment described above can be obtained, and the calculation load on the terminal 701 can be reduced. .
  • FIG. 8 is a schematic diagram of an information providing system in which the sixth embodiment of the terminal of the present invention is used.
  • the information providing system in which the sixth embodiment of the terminal of the present invention is used includes a terminal 801, a network 802, and a sixth embodiment of the terminal of the present invention. And Sano 03. Further, even if the label from which the terminal 801 of the present embodiment acquires the video is the label illustrated in FIG. 2, the ID 601 illustrated in FIG. 6 is used as described in the fourth embodiment of the terminal of the present invention described above. Even a label with can be added!
  • the video acquisition unit 804 has the same function as the video acquisition unit 301 shown in FIG.
  • the calibration calculation unit 805 has the same function as the calibration calculation unit 302 shown in FIG.
  • the calibration inquiry unit 806 has the same function as the calibration inquiry unit 705 shown in FIG.
  • the geographic location measuring unit 807 has the same function as the geographic location measuring unit 504 shown in FIG.
  • the network communication unit 812 has the same function as the network communication unit 707 shown in FIG.
  • the server inquiry unit 808 requests the server 803 to transmit information.
  • the inquiry result receiving unit 809 receives information transmitted from the server 803.
  • the server inquiry unit 808 requests the server 803 to provide information via the network communication unit 812 and the network 802. Then, the inquiry result receiving unit 809 receives information transmitted from the server 803 via the network 802 and the network communication unit 812.
  • the server inquiry unit 808 When the server inquiry unit 808 requests the server 803 to transmit information, the server inquiry unit 808 transmits information on a predetermined terminal to the server 803.
  • Information of a predetermined terminal transmitted to this server 803 The information includes at least the camera orientation relative to the label and the distance between the camera and the label, or the image of the label including the calibration pattern and the camera parameters calculated by the calibration. Further, the information transmitted to the server 803 may include at least one of the geographical location where the terminal exists and the label ID.
  • the information transmitted from server 803 includes information display position and information display size information in the video acquired by video acquisition section 804. Then, the video composition unit 810 and the video acquired by the video acquisition unit 804 based on the information display position and the size of the information display size in the video acquired by the video acquisition unit 804 The video corresponding to the information transmitted from the bar 803 is synthesized.
  • Display unit 811 displays the video synthesized by video synthesis unit 810. This display example is shown in Figure 9.
  • the display unit 811 displays information acquired from a web server (not shown) as a web page.
  • a display example of this web page is shown in FIG.
  • FIG. 9 is a conceptual diagram of an image displayed on the sixth embodiment of the terminal of the present invention.
  • information 901, information 902, and information 903 by CG are transmitted from the server 803 to the terminal 801.
  • information 901, information 902 and information 903, and a label 904 are shown.
  • these information 901, information 902, and information 903 display the name of a building, for example.
  • the information 901, the information 902, and the information 903 are displayed in association with a video image of a building in the landscape spreading in front of the user's eyes.
  • information related to the building in the video is displayed.
  • the present invention is limited to the case where the information 901, information 902, and information 903 are displayed in association with a video image of a building in the landscape spreading in front of the user. is not.
  • these information 901, information 902, and information 903 need only be associated with objects such as buildings corresponding to these pieces of information.
  • the information 901, information 902, and information 903 are linked to information stored in a web server (not shown) on the network. And the user can get information 901 When the information 902 and the information 903 are clicked, the information linked to the information 901, the information 902, and the information 903 is transmitted from the linked websano to the terminal 801.
  • a web page 905 is displayed on the terminal as shown in FIG. 9B, for example.
  • service menu information is displayed for restaurant information.
  • the information may not be displayed as a web page, but may be another appropriate display method.
  • CG images such as information 901, information 902, and information 903 are created in advance by the server in order to reduce the calculation load on the terminal 801. Then, the terminal 801 of this embodiment receives CG images such as information 901, information 902, and information 903. Then, as shown in FIG. 9 (a), the terminal 801 of the present embodiment displays a CG image such as information 901, information 902, and information 903 superimposed on the actual landscape image. In this case, the positional relationship between the CG image such as information 901, information 902, and information 903 and the image of the actual landscape is calculated as the direction of the camera relative to the label and the distance force between the camera and the label. In addition, the terminal according to the present embodiment may create an image to be displayed using information received from Sano. In addition, the terminal according to the present embodiment determines the position and size for displaying CG images such as information 901, information 902, and information 903 based on the orientation of the camera with respect to the label and the distance between the camera and the label. You may do that.
  • information 901, information 902, and information 903 by CG are displayed so as to be superimposed on an actual landscape image.
  • the label 904 is placed within the shooting range of the camera.
  • the orientation of the camera with respect to the label and the distance between the label 904 and the camera are calculated from the calibration pattern of the label 904.
  • the server may calculate the orientation of the camera with respect to the label and between the label and the camera.
  • the method of calculating the camera orientation and the distance between the label 904 and the camera from the calibration pattern of the label 904 according to the present embodiment is the same method as the terminal of the first embodiment described above.
  • the terminal 801 of this embodiment inquires of the server 803 for information.
  • the terminal 801 of the present embodiment can access the server 803 via a wireless network, a wired network, or both.
  • the terminal 801 of this embodiment receives information from the server 803.
  • the terminal 801 of the present embodiment synthesizes and displays a video of information such as information 901, information 902, and information 903 by CG with a landscape video. Therefore, the terminal 801 of the present embodiment can obtain the same effects as those of the first embodiment, the third embodiment, the fourth embodiment, and the fifth embodiment of the terminal of the present invention described above. Both can provide useful information to the user.
  • FIG. 10 is a schematic diagram of an information providing system in which the seventh embodiment of the terminal of the present invention is used.
  • the information providing system in which the seventh embodiment of the terminal of the present invention is used is a terminal 1001, which is the seventh embodiment of the terminal of the present invention, a network 1002, and And server 1003. Further, even if the label from which the terminal 1001 of the present embodiment acquires video is the label shown in FIG. 2, the ID 601 shown in FIG. 6 is used as described in the fourth embodiment of the terminal of the present invention described above. May be given a label.
  • the video acquisition unit 1004 has the same function as the video acquisition unit 301 shown in FIG.
  • the calibration calculation unit 1005 has the same function as the calibration calculation unit 302 shown in FIG.
  • the calibration inquiry unit 1006 has the same function as the calibration inquiry unit 806 shown in FIG.
  • the geographic location measuring unit 1007 has the same function as the geographic location measuring unit 807 shown in FIG.
  • the server inquiry unit 1008 has the same function as the server inquiry unit 808 shown in FIG.
  • the inquiry result receiving means 1009 has the same function as the inquiry result receiving means 809 shown in FIG.
  • the display portion 1011 has the same function as the display portion 811 shown in FIG.
  • the video composition unit 1010 acquires the direction and edge of the movement of the terminal acquired by the video tracking unit 1013. Based on the distance moved at the end, the video to be synthesized with the landscape video, the position of the video to be synthesized, and the size of the video to be synthesized are changed.
  • the configuration of this embodiment is a configuration in which a video follower 1013 is added to the configuration of the sixth embodiment described above.
  • the video follower 1013 may be added to the terminals of the embodiments shown in FIGS. 3, 4, 5, and 7, respectively.
  • the video follower 1013 uses motion estimation used in a compression method such as MPEG.
  • the present invention can also use means for estimating video motion other than motion estimation.
  • FIG. 10 The operation of the video follower 1013 shown in Fig. 10 will be described with reference to Figs. 11 and 12 are conceptual diagrams for explaining the operation of the video follower in the seventh embodiment of the terminal of the present invention.
  • the calibration calculation unit 1005 detects the orientation of the camera and the distance between the label and the camera from the label copied on the screen of Fig. 11 (a). After that, as shown in Fig. 11 (b), the user moves the terminal to the area where the label is off the screen.
  • the video follower 1013 divides a part or the whole of the image with rectangular blocks. Then, the video follower 1013 detects how the rectangle having the same luminance pattern moves as the camera moves. Based on this detection result, the video follower 1013 of the terminal according to the present embodiment detects a change in the direction of the camera and a change in the distance between the label and the camera.
  • the video composition unit 1010 obtains information on the orientation of the camera relative to the label, the distance between the label and the camera, and the orientation of the power camera obtained by photographing the label before the terminal moves. Based on the change information and the change information of the distance between the label and the camera, the CG image is updated. In this manner, the terminal according to the present embodiment maintains a state in which the CG video and the real-world video are appropriately superimposed.
  • the video follower 1013 shown in FIG. 10 measures, for example, a change in the orientation of the terminal and a moving distance using an optical flow.
  • the terminal of the present invention may measure a change in the orientation of the terminal and a moving distance using a magnetic sensor.
  • the terminal of the present embodiment can obtain the same effects as those of the terminal of the sixth embodiment described above, and can update the CG video in accordance with the movement of the terminal.
  • the terminal according to the present embodiment can maintain a state in which the CG video and the real-world video are appropriately superimposed and displayed.
  • FIG. 13 is a block diagram of the internal configuration of the first exemplary embodiment of the server of the present invention.
  • This embodiment is a server that receives a request for information transmission from the sixth embodiment or the seventh embodiment of the terminal of the present invention described above.
  • the server according to the present embodiment includes a calibration inquiry reception unit 1301, a calibration calculation unit 1302, a server inquiry reception unit 1303, an inquiry result transmission unit 1304, a link information management unit 1305, and a data storage unit. 1306 and a network communication unit 1307.
  • the calibration inquiry receiving unit 1301 receives video information including a calibration pattern from the terminal. Further, the calibration inquiry receiving unit 1301 receives the camera parameters obtained by the calibration in which the terminal force is also transmitted.
  • the calibration calculation unit 1302 uses the received calibration pattern video information and parameters to determine the camera direction and camera Calculate the distance to the label.
  • the server inquiry reception unit 1303 receives from the terminal at least the orientation of the camera with respect to the label, the distance between the camera and the label, the video information of the label including the calibration pattern, and the parameters calculated by the calibration. Either one is received.
  • this server inquiry reception unit 1303 may further receive at least one of the geographical location where the terminal exists and the label ID. Then, the link information management unit 1305 extracts information from the data storage unit 1306 based on the received information.
  • the link information management unit 1305 extracts information on the direction of the camera relative to the label and the distance between the camera and the label from the information received by the server inquiry reception unit 1303. And thus, the link information management unit 1305 extracts information from the data storage unit 1306 based on information on the direction of the camera relative to the label and the distance between the camera and the label.
  • the inquiry result transmission unit 1304 transmits the information extracted from the data storage unit 1 306 by the link information management unit 1305 to the terminal.
  • the inquiry result transmission unit 1304 calculates information on the position and size at which the information extracted from the data storage unit 1306 is displayed based on the orientation of the camera with respect to the label and the distance between the camera and the label. To do.
  • the inquiry result transmission unit 1304 transmits information regarding a position and a size at which the information is displayed to the terminal.
  • the information transmitted from the inquiry result transmission unit 1304 to the terminal is information such as information 901, information 902, and information 903 shown in (a) of FIG. 9, for example.
  • the calibration calculation unit 1302 calculates the camera orientation with respect to the label and the distance between the label and the camera. .
  • the calibration inquiry reception unit 1301 also receives the video and parameters of the calibration label with the terminal power.
  • the calibration calculation unit 1302 calculates the orientation of the camera with respect to the label and the distance between the camera and the label from the calibration pattern and the parameters. This calculation is the same as the calculation described in the first embodiment of the terminal of the present invention described above. Then, the link information management unit 1305 extracts information from the data storage unit 1306 using the calculation result of the calibration calculation unit 1302.
  • the data storage unit 1306 stores the orientation of the camera relative to the label, the distance between the camera and the label, and information displayed on the terminal in association with each other.
  • the information stored in the data storage unit 1306 may be stored in association with at least one of position information such as geographical position information obtained by GPS or the like and a label ID.
  • the server according to the present embodiment also receives an information acquisition request for the terminal power.
  • the server of the present embodiment transmits information from the terminal, such as the camera orientation relative to the label, the distance between the camera and the label, the geographical position obtained by GPS, and the label ID. Can be sent to the terminal.
  • FIG. 14 is a block diagram of the internal configuration of the second exemplary embodiment of the server of the present invention.
  • the server of the present embodiment includes a calibration inquiry reception unit 1 401, a calibration calculation unit 1402, a server inquiry reception unit 1403, an inquiry result transmission unit 1404, a time It has an acquisition unit 1405, a time link information management unit 1406, a data storage unit 1407, and a network communication unit 1408.
  • the calibration inquiry receiving unit 1401 has the same function as the calibration inquiry receiving unit 1301 shown in FIG.
  • the calibration calculation unit 1402 has the same function as the calibration calculation unit 1302 shown in FIG.
  • the server inquiry reception unit 1403 has the same function as the server inquiry reception unit 1303 shown in FIG.
  • the inquiry result transmission unit 1404 has the same function as the inquiry result transmission unit 1304 shown in FIG.
  • the concept of time is incorporated into the information stored in the data storage unit 1407.
  • the information stored in the data storage unit 1306 is constant regardless of the time.
  • information stored in the data storage unit 1407 is classified based on time.
  • the time acquisition unit 1405 acquires the time when the server inquiry reception unit 1403 receives the information.
  • the time acquisition unit 1405 transmits the acquired time to the time link information management unit 1406.
  • the time link information management unit 1406 manages information stored in the data storage unit 1407. Then, the time link information management unit 1406 extracts information corresponding to a certain time from the data storage unit 1407.
  • the time link information management unit 1406 extracts information from the data storage unit 1407 based on the information received by the server inquiry reception unit 1403 and the time acquired by the time acquisition unit 1405.
  • the server inquiry reception unit 1403 includes at least one of the camera direction with respect to the label, the distance between the camera and the label, the image of the label including the calibration pattern, and the camera parameters calculated by the calibration. one Receive.
  • the server inquiry reception unit 1403 may further receive at least one of a geographical location where the terminal exists and a label ID.
  • FIG. 15 is a conceptual diagram of information stored in the data storage unit of the second embodiment of the server of the present invention.
  • information A corresponds to 0 and information B corresponds to 0 at a time corresponding to a predetermined label ID, camera position, and orientation.
  • information X corresponds to 0 and information Y corresponds to 1 in correspondence with a predetermined label ID, the position and orientation of the terminal.
  • the correspondence between time and information in the present invention is not limited to the example shown in FIG.
  • the time range may be changed in units of minutes other than that shown in FIG. 15, for example.
  • the positions shown in FIG. 15 include at least the orientation of the camera with respect to the label and the distance between the camera and the label.
  • the server according to the present embodiment changes information to be transmitted to the terminal at each time.
  • the server of the present embodiment changes the menu of the restaurant at noon and at night, so that the menu provided to the terminal also changes depending on the time.
  • the server of the present embodiment changes the price information provided to the terminal because the grocery of the department store may become cheaper depending on the time of day.
  • the server according to the present embodiment can obtain the same effects as those of the first embodiment of the server according to the present invention described above, and can change the information transmitted to the terminal according to the time. Can do.

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Abstract

A technique of accurately computing information on the position of a terminal which acquires a video is provided. A technique of effectively superimposing a video of a view on a video of information on the view is also provided. A video acquiring section (801) acquires a video of a label having a calibration pattern for computing the direction in which the label is imaged and the distance to the label. A calibration computing section (805) computes, from the calibration pattern, the direction in which the label is imaged and the distance to the label.

Description

明 細 書  Specification
端末及びサーバ  Terminal and server
技術分野  Technical field
[0001] 本発明は、映像内の情報を取得するための技術に関する。また、本発明は、拡張 現実 (Augmented Reality)を実現する技術に関する。  [0001] The present invention relates to a technique for acquiring information in a video. The present invention also relates to a technique for realizing augmented reality.
背景技術  Background art
[0002] 今日、インターネット上に WWW (World Wide Web)が構築されている。そして、 だれでも簡単に情報の取得ができる。また、携帯電話や Personal Digital Assist ant (以下、 PDAと記す。)のような端末においても i mode (登録商標)などの情報取 得サービスが行われて 、る。  [0002] Today, the World Wide Web is being built on the Internet. Anyone can easily obtain information. In addition, information acquisition services such as i-mode (registered trademark) are also provided in terminals such as mobile phones and personal digital assistants (hereinafter referred to as PDAs).
[0003] しかし、このような情報の取得では、ユーザの目の前に広がる現実世界の情報を直 接取得することが困難である。例えば、ユーザは、目の前にあるレストランのサービス メニューを知ろうとする場合、以下のような処理を行う。まず、ユーザは、所有する携 帯電話や PDAのブラウザを起動する。そして、ユーザは、インターネットにアクセスす る。そして、ユーザは、検索エンジンを探す。そして、ユーザは、ユーザの目の前にあ るレストランの名前を検索エンジンを用いて検索する。そして、ユーザは、複数検索さ れた同じ名前のレストランの情報の内容を一々確認する。  [0003] However, in such acquisition of information, it is difficult to directly acquire real-world information spreading in front of the user's eyes. For example, when the user wants to know the service menu of a restaurant in front of him, he performs the following process. First, the user launches a mobile phone or PDA browser that he owns. The user then accesses the Internet. The user then searches for a search engine. Then, the user searches for the name of the restaurant in front of the user using a search engine. Then, the user confirms the contents of the restaurant information of the same name that has been searched multiple times.
[0004] これに対して、ユーザの目の前に広がる現実世界の情報をユーザが容易に取得で きるシステムの開発が行われている。このシステムは、コンピュータグラフィックス(Co mputer Graphics,以下、 CGと記す。)で描いた仮想現実の世界の映像と現実世 界の映像とを合成する。  [0004] On the other hand, a system that allows a user to easily acquire real-world information spreading in front of the user's eyes has been developed. This system synthesizes a virtual world image and a real world image drawn with computer graphics (CG).
[0005] この技術は複合現実感(Mixed Reality)又は拡張現実感(Augmented Realit y)と呼ばれている。通常、ユーザは、ヘッドマウントディスプレイとよばれる眼鏡型の ディスプレイ装置を着用する。この技術では、ユーザの地理的位置、顔の向き、目の 前の風景画像中の情報をキーにして、ユーザの目の前の風景に関する情報が検索 される。そして、ユーザの目の前に広がる風景に関する情報力 ディスプレイ装置に より CGとなる。そしてこの CGが現実の映像と合成される。そして、この現実の映像と CGとが合成された映像力 ユーザに提示される。 [0005] This technology is called mixed reality or augmented reality. A user usually wears a glasses-type display device called a head-mounted display. With this technology, information related to the landscape in front of the user is searched using the geographical position of the user, the face orientation, and information in the landscape image in front of the user as keys. And it becomes CG by the information power display device about the scenery spreading in front of the user. This CG is synthesized with the actual video. And this real image and Video power synthesized with CG Presented to the user.
[0006] このようなシステムを用いて、ユーザは、ユーザの目の前のレストランをヘッドマウン トディスプレイを通して見る。そして、ユーザはそのレストランの情報を CGにより瞬時 に得ることができる。 [0006] Using such a system, the user views a restaurant in front of the user's eyes through a head mounted display. And the user can get the restaurant information instantly by CG.
[0007] 一方、ヘッドマウントディスプレイを用いた複合現実感を用いた技術の他の応用とし て以下のものがある。例えば、この技術は、壊れた機械装置を眺める作業員に、点検 の必要がある部品を指し示すガイドを表示する。また、この技術は、医療分野に応用 された場合、観察者に対して、患者の身体の表面の映像に内臓の超音波画像を重 ねて表示する。そのため、この技術は、医師などの観察者がレントゲン写真を眺めな 力 手術をしているような効果を奏する。また、この技術は、患者の血液型や投与さ れる薬品の情報などを表示する。そのため、この技術は、医療ミスを防ぐ情報を提示 する。  [0007] On the other hand, other applications of the technology using mixed reality using a head mounted display include the following. For example, this technology displays a guide that points to the parts that need to be inspected for workers looking at a broken machine. In addition, when this technology is applied to the medical field, an ultrasonic image of the internal organs is superimposed on the image of the surface of the patient's body and displayed to the observer. For this reason, this technique has the effect that an observer such as a doctor is performing power surgery while looking at X-rays. The technology also displays information about the patient's blood type and the drug being administered. Therefore, this technology presents information that prevents medical errors.
[0008] このような複合現実感を実現するためのシステムの大きな問題は、現実世界の映像 と CG映像との重ね合わせを 、かに精度良く行うかと 、うことにある。重ねて表示され た仮想世界の映像が視野内の現実世界の映像と精度良く重なり合うように、複合現 実感システムでは利用者の頭の位置と向きを検知している。  [0008] A major problem of the system for realizing such a mixed reality is to superimpose the real-world video and the CG video with high accuracy. The composite reality system detects the position and orientation of the user's head so that the superimposed virtual world image overlaps the real world image in the field of view with high accuracy.
[0009] 特許文献 2から特許文献 4に記載された技術では磁気センサを用いて映像の重ね 合わせを行う方法が記述されて 、る。これに対して特許文献 1に記載された技術では 、携帯型のカメラ付端末力 得た画像を元に、サーバに情報の取得を問い合わせる 。すなわち、特許文献 1は、端末が所望の情報をサーバから取得する手段に関して 記述している。  [0009] The techniques described in Patent Document 2 to Patent Document 4 describe a method of superimposing images using a magnetic sensor. On the other hand, in the technique described in Patent Document 1, a server is inquired about acquisition of information based on an image obtained by a portable camera terminal. That is, Patent Document 1 describes a means for a terminal to obtain desired information from a server.
特許文献 1:特開平 9— 330336号公報  Patent Document 1: Japanese Patent Laid-Open No. 9-330336
特許文献 2:特開 2000-102036号公報  Patent Document 2: JP 2000-102036 A
特許文献 3:特開 2002-259992号公報  Patent Document 3: Japanese Patent Laid-Open No. 2002-259992
特許文献 4:特開 2002— 271691号公報  Patent Document 4: Japanese Patent Laid-Open No. 2002-271691
特許文献 5:特開 2000-276613号公報  Patent Document 5: Japanese Unexamined Patent Publication No. 2000-276613
特許文献 6 :特表 2003— 533815号公報  Patent Document 6: Special Table 2003—533815
特許文献 7 :特開平 10- 267671号公報 非特許文献 1 :松山隆志,久野義徳,井宫淳, "コンピュータビジョン 技術評論と将 来展望",第 3章,新技術コミュニケーションズ Patent Document 7: JP-A-10-267671 Non-Patent Document 1: Takashi Matsuyama, Yoshinori Kuno, Ito, “Computer Vision Technology Review and Future Prospects”, Chapter 3, New Technology Communications
発明の開示  Disclosure of the invention
発明が解決しょうとする課題  Problems to be solved by the invention
[0010] 特許文献 1に記載の技術は、例えば、端末が渋谷にあるユーザの目の前のレストラ ン XXXの情報を得る技術である。そのために、(1)端末は、 Global Positioning System (以下、 GPSと記す。)で渋谷にいることを認識する。そして、(2)端末は、レ ストラン XXXの画像を撮影する。そして、(3)端末は、(1)で認識した情報及び撮影 した情報をサーバに送る。そして、(4)端末は、サーノくからレストラン XXXの情報を受 信する。 [0010] The technique described in Patent Document 1 is a technique for obtaining information on a restaurant XXX in front of a user whose terminal is in Shibuya, for example. To that end, (1) the terminal recognizes that it is in Shibuya using the Global Positioning System (hereinafter referred to as GPS). Then, (2) the terminal takes a picture of the restaurant XXX. Then, (3) the terminal sends the information recognized in (1) and the captured information to the server. (4) The terminal receives the information about the restaurant XXX from Sanoku.
[0011] 特許文献 1に記載の技術は、上記(1)から (4)の工程により、端末が、ユーザの目 の前のレストランの情報を取得する。しかし、特許文献 1に記載の技術は、画像認識 部が情報の検索キーを生成する。そのため、(a)特許文献 1に記載の技術は、例え ば渋谷中のレストランの看板をデータベースに登録しなければならない。また、(b)特 許文献 1に記載の技術は、看板など、比較的画像認識が容易であるものにし力適用 できない。すなわち、同じ位置でも見る方向によっては観察される風景は異なる。そ のため、特許文献 1に記載の技術は、風景に応用された場合、同一地点でたくさん の映像を撮影してデータベースに登録しなければならない。このように、特許文献 1 に記載された技術は、非常に限られた用途でしか用いることができないといった問題 がある。  [0011] In the technique described in Patent Document 1, the terminal acquires information about a restaurant in front of the user through the steps (1) to (4). However, in the technique described in Patent Document 1, the image recognition unit generates a search key for information. Therefore, (a) the technique described in Patent Document 1 must register, for example, signboards of restaurants in Shibuya in the database. In addition, the technique described in (b) Patent Document 1 cannot be applied to a signboard or the like that has relatively easy image recognition. That is, the observed landscape varies depending on the viewing direction even at the same position. Therefore, when the technique described in Patent Document 1 is applied to landscapes, a lot of images must be taken at the same point and registered in the database. As described above, the technique described in Patent Document 1 has a problem that it can be used only for very limited purposes.
[0012] また、特許文献 2—特許文献 4に記載された技術及び特許文献 7に記載された技 術は磁気センサを用いる。また、特許文献 6に記載された技術は加速度センサを用 いる。  [0012] The technique described in Patent Document 2 to Patent Document 4 and the technique described in Patent Document 7 use a magnetic sensor. The technique described in Patent Document 6 uses an acceleration sensor.
[0013] 上記各特許文献 2—特許文献 4に記載された技術、特許文献 6及び特許文献 7〖こ 記載された技術では、端末の傾きや方向は求められる。しかし、上記各特許文献 2— 特許文献 4に記載された技術、特許文献 6及び特許文献 7に記載された技術では、 高さ方向の情報が得られない。  [0013] With the techniques described in Patent Document 2 to Patent Document 4, Patent Document 6, and Patent Document 7 described above, the tilt and direction of the terminal are required. However, the techniques described in Patent Document 2 to Patent Document 4 and the techniques described in Patent Document 6 and Patent Document 7 cannot obtain information in the height direction.
[0014] そのため、これらの技術では、例えば、ビルの中にお 、て、各階で異なる情報を得 ることができない。また、観察者の地理的な位置情報を推定する GPSの精度は現在 のレベルでも数 10mの誤差がある。たとえ、磁気センサを用いて端末の傾きを高精 度に求められたとしても、 GPSの位置情報と磁気センサによる端末の傾きだけでは、 端末のカメラが捕らえる映像の範囲を推定し、 CG映像と実際の風景の映像との位置 を精度良く調節することは難し ヽ。 [0014] Therefore, with these technologies, for example, in a building, different information is obtained on each floor. I can't. In addition, the accuracy of GPS that estimates the geographical location information of the observer has an error of several tens of meters even at the current level. Even if the tilt of the terminal can be determined with high accuracy using a magnetic sensor, the range of the video captured by the camera of the terminal can be estimated using only the GPS position information and the tilt of the terminal using the magnetic sensor. It is difficult to adjust the position of the actual landscape image accurately.
[0015] 一方、 ICタグを地面に埋め込むなどの方法で高精度に端末の地理的な位置を推 測する方法も存在する。 ICタグを利用することで端末の地理的な位置を推定する精 度は向上する。しかし、精度の向上にも限界があり、この方法を用いて、端末のカメラ が捕らえる映像を推定するのは困難である。  [0015] On the other hand, there is a method for estimating the geographical position of a terminal with high accuracy by a method such as embedding an IC tag in the ground. The accuracy of estimating the geographical location of the terminal is improved by using the IC tag. However, there are limits to the improvement in accuracy, and it is difficult to estimate the video captured by the terminal camera using this method.
[0016] また、特許文献 1に記載された技術は、情報を時刻に基づいて管理していない。そ のため、特許文献 1に記載された技術では、例えばお昼時に提示される情報として、 レストランに関係する情報を提示したり、ランチを提供しないレストランは情報力も外 すなどの、ユーザフレンドリーな機能を有して ヽな 、。  [0016] The technique described in Patent Document 1 does not manage information based on time. For this reason, the technology described in Patent Document 1 provides user-friendly functions such as presenting information related to restaurants as information presented at noon, and removing information power at restaurants that do not provide lunch. Have a cunning,.
[0017] 本発明の目的は、映像を取得する端末の位置に関する情報を精度よく計算する技 術を提供することにある。さらに、本発明の目的は、風景の映像と、この風景に関する 情報の映像とを効果的に重ねあわせる技術を提供することにある。  [0017] An object of the present invention is to provide a technique for accurately calculating information related to the position of a terminal that acquires video. Furthermore, an object of the present invention is to provide a technique for effectively superimposing a landscape video and a video of information related to the landscape.
課題を解決するための手段  Means for solving the problem
[0018] 上記目的を達成するため、本発明の端末は、 [0018] In order to achieve the above object, the terminal of the present invention provides:
撮影対象を撮影した向き及び撮影対象との間の距離を計算するためのパターンを 有する撮影対象の映像を取得する映像取得手段と、  Video acquisition means for acquiring a video of the shooting target having a pattern for calculating a direction of shooting the shooting target and a distance between the shooting target;
前記パターンの映像から、前記撮影対象を撮影した向きと前記撮影対象との間の 距離とを計算する計算手段とを備える。  Computation means for calculating from the image of the pattern the direction in which the subject is photographed and the distance between the subject.
[0019] また、本発明の端末は、 [0019] Further, the terminal of the present invention includes:
前記パターンは、前記端末のキャリブレーションを行うためのキャリブレーションパタ ーンと同じパターンであり、  The pattern is the same pattern as a calibration pattern for calibrating the terminal,
前記計算手段は、前記パターンの映像と前記キャリブレーションにより得られたパラ メータとから、前記撮影対象を撮影した向きと前記撮影対象との間の距離とを計算す る。 [0020] また、本発明の端末は、 The calculation means calculates a direction between the shooting target and a distance between the shooting target from the image of the pattern and the parameters obtained by the calibration. [0020] In addition, the terminal of the present invention,
前記撮影対象との間の距離を測定する距離測定手段を備える。  Distance measuring means for measuring the distance to the object to be photographed is provided.
また、本発明の端末は、  The terminal of the present invention
前記端末の位置を測定する位置測定手段を備える。  Position measuring means for measuring the position of the terminal is provided.
[0021] また、本発明の端末は、 [0021] Further, the terminal of the present invention includes:
前記撮影対象が、複数の撮影対象を互いに識別するための識別情報を備える。  The imaging target includes identification information for identifying a plurality of imaging targets from each other.
[0022] また、本発明の端末は、 [0022] Further, the terminal of the present invention provides:
前記撮影対象を撮影した向き及び撮影対象との間の距離を撮影対象が備えるバタ ーンに基づき計算するサーバとネットワークにより接続され、  Connected by a network to a server that calculates the direction in which the subject was photographed and the distance between the subject to be photographed based on the pattern that the subject has.
前記映像取得手段により取得されたパターンの映像及び予め行われたキヤリブレ ーシヨンにより得られたパラメータを前記サーバに送信すると共に、前記サーバが前 記パターンの映像とパラメータとに基づいて計算した前記撮影対象を撮影した向き 及び撮影対象までの距離を、該サーバから受信する問合わせ手段を備える。  The image of the pattern acquired by the image acquisition means and the parameter obtained by the calibration performed in advance are transmitted to the server, and the imaging object calculated by the server based on the image and parameter of the pattern Inquiry means for receiving from the server the direction of shooting and the distance to the shooting target.
[0023] また、本発明の端末は、 [0023] In addition, the terminal of the present invention,
前記端末力 受信した情報に基づいて端末に送信する情報を選択するサーバとネ ットワークにより接続され、  The terminal power is connected by a network to a server that selects information to be transmitted to the terminal based on the received information,
前記撮影対象を撮影した向き及び撮影対象との間の距離、及び、前記パターンの 映像及び予め行われたキャリブレーションにより得られたパラメータの少なくともいず れか一方を、前記サーバに送信する送信手段と、  Transmitting means for transmitting to the server at least one of the direction in which the subject is photographed and the distance between the subject and the image of the pattern and the parameter obtained in advance by calibration. When,
前記サーバから送信された情報を受信する受信手段とを備える。  Receiving means for receiving information transmitted from the server.
[0024] また、本発明の端末は、 [0024] Further, the terminal of the present invention includes:
前記送信手段は、  The transmission means includes
前記端末の位置及び前記撮影対象が備える複数の撮影対象を互いに識別するた めの識別情報の少なくともいずれか一方を前記サーバに送信する。  At least one of the position of the terminal and identification information for identifying each of a plurality of shooting targets included in the shooting target is transmitted to the server.
[0025] また、本発明の端末は、 [0025] Further, the terminal of the present invention includes:
前記映像取得手段が取得した映像と、前記受信手段が受信した情報に基づく映像 とを合成する合成手段を備える。  Combining means for combining the video acquired by the video acquiring means and the video based on the information received by the receiving means is provided.
[0026] また、本発明の端末は、 前記合成手段が合成した映像を、コンピュータグラッフィックス画像として表示する 表示手段を備える。 [0026] In addition, the terminal of the present invention, Display means for displaying the video synthesized by the synthesizing means as a computer graphics image.
[0027] また、本発明の端末は、  [0027] In addition, the terminal of the present invention,
前記受信手段が受信した情報を、ウェブページとして表示する表示手段を備える。  Display means for displaying the information received by the receiving means as a web page is provided.
[0028] また、本発明の端末は、 [0028] Further, the terminal of the present invention includes:
端末の移動に伴って発生する、端末が取得する映像の変化に基づいて、前記端末 が移動した距離及び前記端末が移動した向きを検知する映像追随手段を備え、 前記合成手段は、前記映像取得手段が取得した映像と、該映像に表示する情報と を、前記映像追随手段が検知した前記端末が移動した距離及び前記端末が移動し た向きとに基づいて合成する。  A video tracking unit configured to detect a distance moved by the terminal and a direction moved by the terminal based on a change in video acquired by the terminal, which is generated in accordance with the movement of the terminal; The video acquired by the means and the information displayed on the video are combined based on the distance moved by the terminal detected by the video following means and the direction in which the terminal moved.
[0029] また、本発明のサーバは、 [0029] Further, the server of the present invention includes:
前記撮影対象を撮影した向き及び撮影対象との間の距離、及び、前記パターンを 含む撮影対象の映像及び予め行われたキャリブレーションにより得られたパラメータ のうちの少なくともいずれか一方を端末力 受信する受信手段と、  The terminal receives at least one of the direction in which the subject was photographed and the distance between the subject and the image of the subject to be photographed including the pattern and the parameters obtained by the calibration performed in advance. Receiving means;
前記受信手段が受信した情報に基づ!、て、情報を記憶するデータ記憶手段から情 報を抽出する情報管理手段と、  Information management means for extracting information from data storage means for storing information based on the information received by the receiving means;
前記情報管理手段が抽出した情報を前記端末に送信する送信手段とを備える。  Transmitting means for transmitting the information extracted by the information management means to the terminal.
[0030] また、本発明のサーバは、 [0030] Further, the server of the present invention includes:
前記受信手段は、前記端末の位置及び前記撮影対象が備える複数の撮影対象を 互いに識別するための識別情報の少なくともいずれか一方を受信し、  The receiving unit receives at least one of identification information for mutually identifying a position of the terminal and a plurality of shooting targets included in the shooting target,
前記情報管理手段は、前記受信手段が受信した、前記端末から送信された情報と 、前記端末の位置及び前記撮影対象が備える複数の撮影対象を互いに識別するた めの識別情報の少なくともいずれか一方とを用いて、前記データ記憶手段から情報 を抽出する。  The information management means is at least one of the information transmitted from the terminal received by the receiving means and the identification information for mutually identifying the position of the terminal and a plurality of photographing objects included in the photographing object To extract information from the data storage means.
[0031] また、本発明のサーバは、 [0031] Further, the server of the present invention provides:
前記データ記憶手段に記憶されている情報は、  The information stored in the data storage means is
前記受信手段が受信した情報と時刻とに基づいて分類され、  Based on the information and time received by the receiving means,
前記情報管理手段は、前記受信手段が受信した情報と、該情報を受信した時刻と に基づいて前記データ記憶手段から情報を抽出する。 The information management means includes information received by the receiving means, a time when the information is received, To extract information from the data storage means.
発明の効果  The invention's effect
[0032] 本発明は、端末が取得したパターンに基づき撮影対象を撮影した向きと撮影対象 との間の距離とを計算する。そのため、本発明によれば、端末の向きと撮影対象まで の距離とを正確に算出することができる。  [0032] The present invention calculates the distance between the shooting direction of the shooting target and the shooting target based on the pattern acquired by the terminal. Therefore, according to the present invention, the orientation of the terminal and the distance to the subject can be accurately calculated.
[0033] また、本発明は、パターンが端末のキャリブレーションを行うためのキヤリブレーショ ンパターンと同じパターンである。そして、計算手段は、パターンの映像とキヤリブレ ーシヨンにより得られたパラメータとから、撮影対象を撮影した向きと撮影対象との間 の距離とを計算する。そのため、本発明は、端末の向きと撮影対象までの距離とを正 確に算出することができる。  In the present invention, the pattern is the same pattern as the calibration pattern for calibrating the terminal. Then, the calculation means calculates the distance between the direction in which the photographing target is photographed and the photographing target from the image of the pattern and the parameters obtained by the calibration. Therefore, the present invention can accurately calculate the orientation of the terminal and the distance to the shooting target.
[0034] また、本発明は、距離測定手段により端末と撮影対象との間の距離を正確に測定 することができる。また、本発明は、位置測定手段により端末の位置を正確に測定す ることがでさる。  [0034] Further, according to the present invention, the distance between the terminal and the object to be imaged can be accurately measured by the distance measuring means. In addition, according to the present invention, the position of the terminal can be accurately measured by the position measuring means.
[0035] また、本発明は、識別情報により撮影対象を識別することができる。また、本発明は 、撮影対象を撮影した向き及び撮影対象との間の距離を、サーバに計算させている 。そのため、本発明は、端末の負荷を軽減することができる。  In addition, according to the present invention, it is possible to identify a subject to be photographed based on identification information. Further, the present invention causes the server to calculate the direction in which the photographing object is photographed and the distance between the photographing objects. Therefore, the present invention can reduce the load on the terminal.
[0036] また、本発明は、撮影対象を撮影した向き及び撮影対象との間の距離、及び、バタ ーンの映像及びキャリブレーションにより得られたパラメータの少なくともいずれか一 方に基づいてサーバが端末に情報を送信する。そのため、本発明は、端末がサーバ から、適切な情報を受信することができる。  [0036] Further, according to the present invention, the server is based on at least one of the direction in which the subject is photographed and the distance between the subject and the parameters obtained by the pattern image and the calibration. Send information to the terminal. Therefore, according to the present invention, the terminal can receive appropriate information from the server.
[0037] また、本発明は、端末の位置及び撮影対象が備える複数の撮影対象を互いに識 別するための識別情報の少なくともいずれか一方を端末がサーバに送信する。そし て、サーバは、端末から受信した端末の位置及び撮影対象が備える複数の撮影対 象を互いに識別するための識別情報の少なくともいずれか一方も用いて端末に送信 する情報を選択する。そのため、本発明は、端末がサーバから、適切な情報を受信 することができる。  [0037] Further, in the present invention, the terminal transmits at least one of identification information for identifying the position of the terminal and a plurality of shooting targets included in the shooting target to the server. Then, the server selects information to be transmitted to the terminal using at least one of the identification information for mutually identifying the position of the terminal received from the terminal and the plurality of imaging targets included in the imaging target. Therefore, according to the present invention, the terminal can receive appropriate information from the server.
[0038] また、本発明は、映像取得手段が取得した映像と、受信手段が受信した情報に基 づく映像とを合成手段が合成する。そのため、本発明は、ユーザが、受信した情報を 合成された映像により認識することができる。 In the present invention, the synthesizing unit synthesizes the video acquired by the video acquiring unit and the video based on the information received by the receiving unit. For this reason, the present invention provides information received by the user. It can be recognized by the synthesized video.
[0039] また、本発明は、表示手段が、合成手段が合成した映像を、コンピュータダラッフィ ックス画像として表示する。そのため、本発明は、合成された映像の視認性を向上さ せることができる。  [0039] Further, according to the present invention, the display means displays the video synthesized by the synthesizing means as a computer dullix image. Therefore, the present invention can improve the visibility of the synthesized video.
[0040] また、本発明は、表示手段が、受信手段が受信した情報を、ウェブページとして表 示する。そのため、本発明によれば、ユーザは、表示される情報を的確に把握するこ とがでさる。  [0040] In the present invention, the display means displays the information received by the receiving means as a web page. Therefore, according to the present invention, the user can accurately grasp the displayed information.
[0041] また、本発明は、合成手段が、映像取得手段が取得した映像と、受信手段が受信 した情報に基づく映像とを、映像追随手段が検知した端末が移動した距離及び前記 端末が移動した向きとに基づいて合成する。そのため、本発明は、合成された映像 は、端末の移動を考慮したものとすることができる。  [0041] Further, according to the present invention, the synthesizing unit detects the distance moved by the terminal detected by the video tracking unit and the moving of the video acquired by the video acquiring unit and the video based on the information received by the receiving unit. Based on the orientation. Therefore, according to the present invention, the synthesized video can take into account the movement of the terminal.
[0042] また、本発明は、情報管理手段が、受信手段が受信した情報に基づいて、情報を 記憶するデータ記憶手段から情報を抽出する。そして、サーバが、情報管理手段が 抽出した情報を端末に送信する。そのため、本発明は、サーバは、端末から送信さ れた情報に対応する情報を端末に送信することができる。  [0042] Further, according to the present invention, the information management means extracts information from the data storage means for storing information based on the information received by the receiving means. Then, the server transmits the information extracted by the information management means to the terminal. Therefore, according to the present invention, the server can transmit information corresponding to the information transmitted from the terminal to the terminal.
[0043] また、本発明は、情報管理手段が、受信手段が受信した、端末から送信された情報 と、端末の位置及び撮影対象が備える複数の撮影対象を互いに識別するための識 別情報の少なくともいずれか一方とを用いて、情報が記憶されているデータ記憶手 段力 情報を抽出する。そのため、本発明によれば、サーバが端末に送信する情報 を適切なものとすることができる。  [0043] Further, according to the present invention, the information management unit includes identification information for identifying the information transmitted from the terminal received by the receiving unit and the position of the terminal and a plurality of shooting targets included in the shooting target from each other. Using at least one of them, data storage means force information in which information is stored is extracted. Therefore, according to the present invention, information transmitted from the server to the terminal can be made appropriate.
[0044] また、本発明は、データ記憶手段に記憶されている情報が、受信手段が受信した 情報と時刻とに基づいて分類されている。そして、本発明は、情報管理手段が受信 手段が受信した情報と時刻とに基づいてデータ記憶手段から情報を抽出する。その ため、本発明は、端末に送信する情報として時刻を考慮したものとすることができる。 図面の簡単な説明 In the present invention, the information stored in the data storage means is classified based on the information received by the receiving means and the time. In the present invention, the information management means extracts information from the data storage means based on the information received by the receiving means and the time. Therefore, the present invention can consider time as information to be transmitted to the terminal. Brief Description of Drawings
[0045] [図 1]本発明の端末の第 1の実施形態における、ラベルに対するカメラの向き、及び、 カメラとラベルとの間の距離を測定する方法の概念図である。  FIG. 1 is a conceptual diagram of a method for measuring the orientation of a camera with respect to a label and the distance between the camera and the label in the first embodiment of the terminal of the present invention.
[図 2]本発明の端末の第 1の実施形態で使用されるラベルの一例を示す概略図であ る。 FIG. 2 is a schematic diagram showing an example of a label used in the first embodiment of the terminal of the present invention. The
圆 3]本発明の端末の第 1の実施形態の内部構成のブロック図である。 圆 3] It is a block diagram of an internal configuration of the first exemplary embodiment of the terminal of the present invention.
圆 4]本発明の端末の第 2の実施形態の内部構成のブロック図である。 圆 4] It is a block diagram of the internal configuration of the second embodiment of the terminal of the present invention.
圆 5]本発明の端末の第 3の実施形態の内部構成のブロック図である。 [5] FIG. 5 is a block diagram of an internal configuration of the third exemplary embodiment of the terminal of the present invention.
圆 6]本発明の端末の第 4の実施形態に用いられるラベルの一例の概略図である。 圆 7]本発明の端末の第 5の実施形態が使用される情報提供システムの概略図であ る。 [6] It is a schematic diagram of an example of a label used in the fourth embodiment of the terminal of the present invention. [7] FIG. 7 is a schematic diagram of an information providing system in which the fifth embodiment of the terminal of the present invention is used.
圆 8]本発明の端末の第 6の実施形態が使用される情報提供システムの概略図であ る。 [8] FIG. 8 is a schematic diagram of an information providing system in which the sixth embodiment of the terminal of the present invention is used.
圆 9]本発明の端末の第 6の実施形態に表示される映像の概念図である。 [9] FIG. 9 is a conceptual diagram of an image displayed in the sixth embodiment of the terminal of the present invention.
圆 10]本発明の端末の第 7の実施形態が使用される情報提供システムの概略図であ る。 [10] It is a schematic diagram of an information providing system in which the seventh embodiment of the terminal of the present invention is used.
圆 11]本発明の端末の第 7の実施形態における映像追随部の動作を説明するため の概念図である。 圆 11] It is a conceptual diagram for explaining the operation of the video follower in the seventh embodiment of the terminal of the present invention.
圆 12]本発明の端末の第 7の実施形態における映像追随部の動作を説明するため の概念図である。 圆 12] It is a conceptual diagram for explaining the operation of the video follower in the seventh embodiment of the terminal of the present invention.
圆 13]本発明のサーバの第 1の実施形態の内部構成のブロック図である。 [13] FIG. 13 is a block diagram of the internal configuration of the first exemplary embodiment of the server of the present invention.
[図 14]本発明のサーバの第 2の実施形態の内部構成のブロック図である。  FIG. 14 is a block diagram of an internal configuration of a second embodiment of the server of the present invention.
圆 15]本発明のサーバの第 2の実施形態のデータ記憶部に記憶される情報の概念 図である。 15] A conceptual diagram of information stored in the data storage unit of the second embodiment of the server of the present invention.
符号の説明 Explanation of symbols
301 映像取得部  301 Video acquisition unit
302 キャリブレーション計算部  302 Calibration calculator
401 映像取得部  401 Video acquisition unit
402 キャリブレーション計算部  402 Calibration calculator
403 距離測定部  403 Distance measurement unit
501 映像取得部  501 Video acquisition unit
502 キャリブレーション計算部 503 距離測定部 502 Calibration calculator 503 Distance measurement unit
504 地理的位置測定部  504 Geographical Location Measurement Unit
601 ID  601 ID
701 端末  701 devices
702 ネットワーク  702 network
703 サーバ  703 server
704 映像取得部  704 Video acquisition unit
705 キャリブレーション問合わせ部 705 Calibration inquiry section
706 地理的位置測定部 706 Geographic Location Measurement Unit
707 ネットワーク通信部  707 Network Communication Department
801 端末  801 terminals
802 ネットワーク  802 network
803 サーバ  803 server
804 映像取得部  804 Video acquisition unit
805 キャリブレーション計算部 805 Calibration calculator
806 キャリブレーション問合わせ部806 Calibration inquiry section
807 地理的位置測定部 807 Geographical Location Measurement Unit
808 サーバ問合わせ部  808 Server inquiry department
809 問合わせ結果受信部 809 Query result receiver
810 映像合成部 810 Video composition unit
811 表示部  811 Display
812 ネットワーク通信部  812 Network Communication Department
901, 902, 903 情報  901, 902, 903 Information
904 ラベノレ  904 Labenore
905 webページ  905 web page
1001 端末  1001 terminal
1002 ネットワーク  1002 network
1003 サーバ 1004 映像取得部 1003 server 1004 Video acquisition unit
1005 キャリブレーション計算部  1005 Calibration calculator
1006 キャリブレーション問合わせ部  1006 Calibration inquiry section
1007 地理的位置測定部  1007 Geographical location measurement unit
1008 サーバ問合わせ部  1008 Server inquiry department
1009 問合わせ結果受信部  1009 Inquiry result receiver
1010 映像合成部  1010 Video composition unit
1011 表示部  1011 Display
1012 ネットワーク通信部  1012 Network communication department
1013 映像追随部  1013 Video follower
1301 キャリブレーション問合わせ受信部  1301 Calibration inquiry receiver
1302 キャリブレーション計算部  1302 Calibration calculator
1303 サーバ問合わせ受信部  1303 Server inquiry receiver
1304 問合わせ結果送信部  1304 Query result transmitter
1305 リンク情報管理部  1305 Link Information Management Department
1306 データ記憶部  1306 Data storage
1307 ネットワーク通信部  1307 Network communication department
1401 キャリブレーション問合わせ受信部  1401 Calibration inquiry receiver
1402 キャリブレーション計算部  1402 Calibration calculator
1403 サーバ問合わせ受信部  1403 Server inquiry receiver
1404 問合わせ結果送信部  1404 Query result transmitter
1405 時刻取得部  1405 Time acquisition unit
1406 時刻リンク情報管理部  1406 Time Link Information Management Department
1407 データ記憶部  1407 Data storage
1408 ネットワーク通信部  1408 Network Communication Department
発明を実施するための最良の形態 BEST MODE FOR CARRYING OUT THE INVENTION
(端末の第 1の実施形態)  (First embodiment of terminal)
本発明の端末の第 1の実施形態について説明する。本実施形態の端末は、カメラ を備える。本実施形態の端末には、携帯電話を用いる。また、本発明の端末の第 1の 実施形態以外の実施形態の端末、及び本発明のサーバの各実施形態に使用される 端末は、同様に携帯電話とする。また、以下に説明する本発明の端末及びサーバの 各実施形態の各部の機能は、例えば CPU力メモリに格納されたプログラムや、その 他の装置と適宜協働することにより実現されるとしても良い。また、以下に説明する本 発明の各実施形態の端末及びサーバの各実施形態で使用される端末では、キヤリ ブレーシヨンは予め、例えばカメラの製造工場において行われているとする。 A first embodiment of the terminal of the present invention will be described. The terminal of this embodiment is a camera Is provided. A mobile phone is used as the terminal of this embodiment. In addition, the terminal of the embodiment of the present invention other than the first embodiment and the terminal used in each embodiment of the server of the present invention are also assumed to be mobile phones. In addition, the functions of the respective units of the embodiments of the terminal and server of the present invention described below may be realized by appropriately cooperating with, for example, a program stored in the CPU power memory and other devices. . In the terminal used in each embodiment of the present invention and the server described below, the calibration is assumed to be performed in advance at a camera manufacturing factory, for example.
[0048] そして、本実施形態の端末は、キャリブレーションパターンを含むラベル (以下、単 にラベルともいう。)を用いて、端末に搭載されたカメラ(以下、単にカメラともいう)の 向きと、カメラとラベルとの間の距離の測定を行う。  [0048] Then, the terminal of the present embodiment uses a label including a calibration pattern (hereinafter also simply referred to as a label), and the orientation of a camera (hereinafter also simply referred to as a camera) mounted on the terminal, Measure the distance between the camera and the label.
[0049] ここで、上述のカメラの向きと、カメラとラベルとの間の距離の測定について説明す る。非特許文献 1に記載された方法は、ラベルに対するカメラの向き、及び、カメラとラ ベルとの間の距離を測定することができる。本実施形態でも、この非特許文献 1に記 載された方法を用いる。  [0049] Here, measurement of the above-described camera orientation and the distance between the camera and the label will be described. The method described in Non-Patent Document 1 can measure the orientation of the camera with respect to the label and the distance between the camera and the label. Also in this embodiment, the method described in Non-Patent Document 1 is used.
[0050] 以下、本実施形態の端末による、ラベルに対するカメラの向き、及び、カメラとラベ ルとの間の距離を測定する方法について図 1を参照して説明する。図 1は、本発明の 端末の第 1の実施形態における、ラベルに対するカメラの向き、及び、カメラとラベル との間の距離を測定する方法の概念図である。ただし、以下に説明する、ラベルに対 するカメラの向き、及び、カメラとラベルとの間の距離を測定する方法は、本発明の端 末の第 1の実施形態以外の実施形態の端末、及び、本発明のサーバの各実施形態 にも適用できる。  [0050] Hereinafter, a method of measuring the orientation of the camera with respect to the label and the distance between the camera and the label by the terminal of the present embodiment will be described with reference to FIG. FIG. 1 is a conceptual diagram of a method for measuring the orientation of a camera with respect to a label and the distance between the camera and the label in the first embodiment of the terminal of the present invention. However, the method of measuring the orientation of the camera with respect to the label and the distance between the camera and the label, which will be described below, is a terminal of an embodiment other than the first embodiment of the terminal of the present invention, and The present invention can also be applied to each embodiment of the server of the present invention.
[0051] 定義  [0051] Definition
(X , y , z ):世界座標における点 Pの座標  (X, y, z): coordinates of point P in world coordinates
(X, y, z):カメラ座標における点 Pの座標  (X, y, z): coordinates of point P in camera coordinates
O :カメラのレンズ中心  O: Camera lens center
f :焦点距離  f: Focal length
(X , Y ) :点 Pの画像座標  (X, Y): Image coordinates of point P
(X , Y ):レンズの幾何学的なひずみによる実際の画像座標 (X , Y ):デジタル画像で離散化された画像座標 (X, Y): Actual image coordinates due to lens geometric distortion (X, Y): Image coordinates discretized with digital image
f f  f f
s :スケール関数  s: Scale function
d , d :X方向、 Y方向の CCD素子の間隔  d, d: Distance between CCD elements in the X and Y directions
X y  X y
N , Ν :Χ方向の CCD素子数、 1走査線のサンプル数  N, Ν: Number of CCD elements in Χ direction, number of samples per scan line
cx fx  cx fx
d, :d, = d (N ZN )とする。  Let d,: d, = d (N ZN).
X x x cx fx  X x x cx fx
[0052] 準備  [0052] Preparation
図 1に示すように基準となる世界座標 O における点 Pの座標を (X , y , z w— xw— w ~~ zw w w w As shown in Fig. 1, the coordinates of the point P in the reference world coordinate O are (X, y, z w— xw— w ~~ zw w w w
)と表し、カメラ座標 O における点 Pの座標を (X, y, z)と表す。 ) And the coordinates of the point P in the camera coordinates O are represented as (X, y, z).
ただし、 Oはレンズ中心(ピンホール)を表し、 z軸はレンズの光軸に一致するように 設定する。  However, O represents the lens center (pinhole), and the z-axis is set to match the optical axis of the lens.
[0053] 次に X— y平面に平行で z座標力 ¾の位置に画像中心が O、座標軸が X— Yの画像平 面を考える。理想的なピンホールカメラの場合は点 Pの座標 (X, y, z)は画像平面上 では (X , Y )と表されるが、レンズの幾何学的なひずみにより実際には画像平面上 では (X , Y )  [0053] Next, consider an image plane parallel to the XY plane and having an image center of O and a coordinate axis of XY at the position of the z coordinate force ¾. In the case of an ideal pinhole camera, the coordinates (X, y, z) of the point P are expressed as (X, Y) on the image plane, but in reality the image plane is affected by the geometric distortion of the lens. (X, Y)
d dの位置に対応するものとする。  d It shall correspond to the position of d.
[0054] そして (X , Y )のデジタル画像上での離散化された座標を (X , Y )で表す。点 P d d f f  [0054] The discrete coordinates on the digital image of (X, Y) are represented by (X, Y). Point P d d f f
の世界座標 (χ , y , z )とその点の画像座標 (X , Y )の関係は以下の手順で求め w w w f r  The relationship between the world coordinates (χ, y, z) and the image coordinates (X, Y) of the point is obtained by the following procedure: w w w f r
ることがでさる。  It can be done.
[0055] step. 1 (x , y , z )から(x, y, z)への変換 [0055] step. 1 Conversion from (x, y, z) to (x, y, z)
W W W  W W W
回転行列 Rと平行移動ベクトル Tを用いて表す。  This is expressed using the rotation matrix R and translation vector T.
[0056] [数 1] [0056] [Equation 1]
Figure imgf000015_0001
Figure imgf000015_0001
[0057] ただし、 [0057] However,
[0058] [数 2] (2)
Figure imgf000016_0001
[0058] [Equation 2] (2)
Figure imgf000016_0001
[0059] step. 2 透視変換による(x, y, z)から (X, Y^)への変換: [0059] step. 2 Conversion from (x, y, z) to (X, Y ^) by perspective transformation:
焦点距離 fを用いて表す。  Expressed using focal length f.
[0060] [数 3] r X r- y [0060] [Equation 3] r X r- y
xu =f一 , Yu =f— (3) xu = f one, Y u = f- (3)
[0061] step. 3 (X , Y )から(X, Y )への変換: [0061] step. 3 Conversion from (X, Y) to (X, Y):
u u d d  u u d d
[0062] [数 4]  [0062] [Equation 4]
Xd+Dx=xu-Yd+Dy =Yu (4) X d + D x = x u- Y d + D y = Y u (4)
[0063] ただし、 D , Dはレンズの半径方向のひずみ係数 κ , κ を用いて次のように表す y 1 2 [0063] where D 1 and D 2 are expressed as follows using distortion coefficients κ and κ in the radial direction of the lens as follows:
[0064] 隱 5] [0064] 隱 5]
Dx=Xd ( c1 r2+K2rA)
Figure imgf000016_0002
D x = Xd (c 1 r 2 + K 2 r A )
Figure imgf000016_0002
/ 2 2 / twenty two
厂 Φά +Yd 厂 Φά + Y d
[0065] step .4 (X , Y )から(X , Y )への変換: [0065] step .4 Conversion from (X, Y) to (X, Y):
d d f f  d d f f
[0066] 隱 6] Xf =sxd'x' Xd+C
Figure imgf000017_0001
[0066] 隱 6] Xf = s x d ' x ' X d + C
Figure imgf000017_0001
[0067] ただし、 sはスケール係数、(Cx, C )はデジタル画像上での原点座標、 άχ, はそ れぞれ X方向 Y方向の CCDの素子数の間隔を表す。 d,は X方向の N と 1走査線の サンプル数 N を用いて dを補正したものである。 [0067] where s is the scale factor, (C x , C) is the origin coordinate on the digital image, and ά χ , respectively, represents the interval between the number of CCD elements in the X and Y directions. d is a correction of d using N in the X direction and N samples per scan line.
[0068] [数 7]  [0068] [Equation 7]
dd
Figure imgf000017_0002
Figure imgf000017_0002
[0069] 以上の関係を整理すると、 [0069] To organize the above relationship,
[0070] 國 [0070] country
X二 Xf - C Y=Y f ν
Figure imgf000017_0003
X 2 X f -CY = Y f ν
Figure imgf000017_0003
[0071] を用いて Using [0071]
[0072] [数 9] r4) [0072] [Equation 9] r 4 )
(9)
Figure imgf000017_0004
(9)
Figure imgf000017_0004
[0073] [数 10] dyY+dyY( 1 r2+/c2r4) [0073] [Equation 10] dyY + d y Y ( 1 r 2 + / c 2 r 4 )
(1 0)
Figure imgf000018_0001
(Ten)
Figure imgf000018_0001
[0074] が得られる。ただし、 [0074] is obtained. However,
[0075] [数 11]
Figure imgf000018_0002
[0075] [Equation 11]
Figure imgf000018_0002
[0076] である。 [0076]
[0077] キャリブレーション  [0077] Calibration
キャリブレーションは図 1に示すように、多数の点の世界座標(X , y , z )とそれら  As shown in Fig. 1, calibration is performed with the world coordinates (X, y, z) of many points and their
W W W  W W W
の点に対応する画像座標 (X, Y)  Image coordinates corresponding to a point (X, Y)
f f との組がカメラに与えられることにより行われる。こ こで、多数の点の世界座標 (X , y , z )は既知の値である。本実施形態のキヤリブレ  This is done by giving a pair to f f to the camera. Here, the world coordinates (X, y, z) of many points are known values. The calibre of this embodiment
w w w  w w w
ーシヨンでは、外部パラメータとして回転行列 R、平行移動ベクトル T、内部パラメータ として焦点距離 f、レンズひずみ係数 κ 1, κ 2、スケール係数 s、画像原点(C , C ) が求められる。これら、外部パラメータと内部パラメータとを合わせて以下、単にパラメ ータともいう。以下では、 s (通常は 1.0)とした場合のキャリブレーション手^ mこつい て述べる。  In the simulation, the rotation matrix R, translation vector T, external parameters, focal length f, lens distortion coefficients κ1, κ2, scale factor s, and image origin (C, C) are obtained as external parameters. These external parameters and internal parameters are collectively referred to simply as parameters hereinafter. In the following, the calibration procedure when s (usually 1.0) is assumed will be described.
[0078] step.1 [0078] step.1
同一平面上に存在する N個のキャリブレーション点を撮影した画像カゝら P画像座標 (X , Y )を求める。  Find the P image coordinates (X, Y) from the image camera that captured the N calibration points on the same plane.
fi fi  fi fi
[0079] step.2  [0079] step.2
カメラおよび AZD変翻の仕様から、 N , N , d ', dを求める。  N, N, d ', d are obtained from the specifications of the camera and AZD transformation.
cx fx X y  cx fx X y
[0080] step.3  [0080] step.3
画像の中央の原点座標を (C , C )とする。  Let the origin coordinate at the center of the image be (C, C).
X y  X y
[0081] step.4 N点の(X , Y )を求める。 [0081] step.4 Find (X, Y) of N points.
[0082] [数 12]
Figure imgf000019_0001
Gx
[0082] [Equation 12]
Figure imgf000019_0001
G x
(1 2) Ydi=d y(Yfi-c y) (1 2) Ydi = d y ( Y fi- c y )
[0083] step.5 [0083] step.5
(x , y , ζ )と(X , Υ )の組から Τ _1rl, Τ _1r2, Τ _1Τ , Τ _1r4, Τ— "τ5を未知 wi wi wi di di y y y x y y x _1 rl, Τ _1 r2, Τ _1 Τ, Τ _1 r4, Τ— "τ5 is unknown wi wi wi di di yyyxyy
数とする線形方程式を解く。  Solve linear equations with numbers.
[0084] [数 13] [0084] [Equation 13]
Figure imgf000019_0002
Figure imgf000019_0002
[0085] step.6 [0085] step.6
T _1rl, T _1r2, T _1T , T _1r4, T— "r5から T 2を求める。まず、 T _1 rl, T _1 r2, T _1 T, T _1 r4, T— "Find T 2 from r5.
y y y x y y y  y y y x y y y
[0086] [数 14]  [0086] [Equation 14]
Figure imgf000019_0003
Figure imgf000019_0004
Figure imgf000019_0003
Figure imgf000019_0004
[0087] とする。行列 Cの行または列の要素が 0でない場合は、 [0087] If the row or column element of matrix C is not 0,
[0088] [数 15] SrVSr"4(r'i r'5—R'4 2): [0088] [Equation 15] Sr V S r " 4 (r 'i r ' 5— R '4 2) :
2 (1 5) 2 (1 5)
2(ΓΊ r'5 ' 4 r'2) 2 (Γ Ί r'5 '4 r ' 2)
[0089] を求める。ただし、 r ' , r 'は行列 Cの 0でな 、行または列の要素を表す。 [0089] is obtained. However, r 'and r' represent row or column elements that are not 0 in the matrix C.
1 J  1 J
[0090] step.7  [0090] step.7
画像原点 (C , C )  Image origin (C, C)
X から十分離れた点 (X , Y )  A point (X, Y) well away from X
fi fiとその対応する点の世界座標 (X  fi world coordinates of fi and its corresponding points (X
, y , ζ )から Τの符号を決定する。まず、 Τの符号を正として、  , Y, ζ) determine the sign of Τ. First, let the sign of Τ be positive,
wi wi y y  wi wi y y
[0091] [数 16]  [0091] [Equation 16]
Γί =(Ty η)丁、,, r2=(Ty r2)Ty
Figure imgf000020_0001
Γ ί = (T y η), ,, r 2 = (T y r 2 ) T y
Figure imgf000020_0001
Tx二 (Ty'Tx)Ty (1 6) x=rlXw +r2yw+Tx T x 2 (T y ' T x ) T y (1 6) x = r lXw + r 2 y w + T x
y=r4xw +r5yw+Ty y = r 4 x w + r 5 y w + T y
[0092] を求め、 χと Xの符号が等しぐかつ、 yと Yの符号が等しいならば Tの符号を正、それ [0092] If the signs of χ and X are equal and y and Y are equal, the sign of T is positive,
y  y
以外では負とする。  Otherwise, it is negative.
[0093] step.8  [0093] step.8
r , r , r , r力 回転行列 Rを決定する。  r, r, r, r force Determine the rotation matrix R.
[0094] [数 17]  [0094] [Equation 17]
Figure imgf000020_0002
[0095] ただし、 s=-sgn(r r +r r )である。 r , r , rは Rが直行行列であるという性質を
Figure imgf000020_0002
[0095] However, s = -sgn (rr + rr). r, r, r have the property that R is an orthogonal matrix
1 4 2 5 7 8 9  1 4 2 5 7 8 9
用いて求める。なお、 step. 9で求める焦点距離 fが負となる場合は、  Use to find. If the focal length f obtained in step 9 is negative,
[0096] [数 18] [0096] [Equation 18]
(1 8)
Figure imgf000021_0001
(1 8)
Figure imgf000021_0001
[0097] を用いる。 [0097] is used.
[0098] step. 9 [0098] step. 9
レンズのひずみを無視(κ = κ =0)として fと Τを未知数とする線形方程式を解く  Solve linear equations with f and Τ as unknowns, ignoring lens distortion (κ = κ = 0)
1 2 z  1 2 z
[0099] [数 19]
Figure imgf000021_0002
[0099] [Equation 19]
Figure imgf000021_0002
[0100] ただし、 [0100] However,
[0101] [数 20] y j =r4xwi+r5ywj+Ty [0101] [Equation 20] yj = r4x wi + r5y wj + Ty
20) W : =r7xwj+r8ywj step. 10 20) W: = r7x wj + r8y wj step. 10
step.9で求めた f、T及び K = K =0を初期値として、式(10)を非線形最適化 z 1 2  Using f, T and K = K = 0 obtained in step.9 as initial values, Equation (10) is nonlinearly optimized z 1 2
問題として解き、 ί,τ, κ , κ を求める。以上で、キャリブレーションの説明を終える  Solve as a problem and find ί, τ, κ, κ. This completes the explanation of calibration.
[0103] 次に、本発明の端末の第 1の実施形態についてさらに詳細に説明する。本実施形 態で使用されるラベルは図 2に示される。図 2は、本発明の端末の第 1の実施形態で 使用されるラベルの一例を示す概略図である。ただし、以下に説明する、ラベルの説 明は、本発明の端末の第 1の実施形態以外の実施形態の端末、及び、本発明のサ 一バの各実施形態にも適用できる。 [0103] Next, the first embodiment of the terminal of the present invention will be described in more detail. This embodiment The labels used in the state are shown in Figure 2. FIG. 2 is a schematic diagram showing an example of a label used in the first embodiment of the terminal of the present invention. However, the description of the label described below can be applied to the terminal of the embodiment other than the first embodiment of the terminal of the present invention and each embodiment of the server of the present invention.
[0104] 図 2に示されるように、カメラで撮影された映像力もカメラの向きを推定するために、 ラベルは例えば複数の点をもつパターンとする。このパターンはキャリブレーションパ ターンである。すなわち、図 2に示されるラベルは、キャリブレーションによってカメラ のパラメータを設定するために使用されたキャリブレーションパターンを有するラベル と同じものである。 [0104] As shown in Fig. 2, in order to estimate the direction of the camera as well as the image power captured by the camera, the label is a pattern having a plurality of points, for example. This pattern is a calibration pattern. That is, the label shown in FIG. 2 is the same as the label having the calibration pattern used to set the camera parameters by calibration.
[0105] 本実施形態では、このようなキャリブレーションパターン有するラベルを現実の世界 の各地点に配置する。そして、ユーザが、端末に搭載されたキャリブレーション済み のカメラでそのラベルを撮影する。そして、端末は、撮影したラベルの映像カゝらラベル に対するカメラの向き、ラベルとカメラとの間の距離を計算する。そして、ラベルに対 するカメラの向き、ラベルとカメラとの間の距離を認識した端末は、ユーザの目の前の 風景に対応する、 CGで表現される情報を所定のデータベース力 検索する。そして 、端末は、 CGで表現される情報を風景の映像と合成し、ディスプレイを通じてユーザ に表示する。  In this embodiment, a label having such a calibration pattern is arranged at each point in the real world. The user then captures the label with a calibrated camera mounted on the terminal. Then, the terminal calculates the direction of the camera relative to the label and the distance between the label and the camera. Then, the terminal that recognizes the orientation of the camera with respect to the label and the distance between the label and the camera searches the information expressed in CG corresponding to the scenery in front of the user's eyes with a predetermined database power. The terminal then synthesizes the information expressed in CG with the landscape video and displays it to the user through the display.
[0106] ラベルに対するカメラの向きや、カメラとラベルとの間の距離を求める方法は、例え ば前述の非特許文献 1に示されている方法がある。本実施形態では、非特許文献 1 に示されている方法を用いる。この方法によって、本実施形態の端末は、ラベルと力 メラとの間の距離及びカメラの向きを求めることができる。すなわち、本実施形態の端 末は、キャリブレーションにより、予め、ラベルに対するカメラの向き及びラベルとカメ ラとの間の距離を決定するためのノ メータを決定する。そして、本実施形態の端末 は、決定されたこのパラメータと、キャリブレーションラベルを撮影した画像とから、ラ ベルに対するカメラの向き(すなわち、ラベルに対するカメラの角度)、及び、ラベルと カメラとの間の距離を求める。  [0106] As a method for obtaining the orientation of the camera with respect to the label and the distance between the camera and the label, for example, there is a method disclosed in Non-Patent Document 1 described above. In this embodiment, the method shown in Non-Patent Document 1 is used. By this method, the terminal of this embodiment can determine the distance between the label and the force lens and the camera orientation. That is, the terminal of the present embodiment determines in advance a meter for determining the orientation of the camera with respect to the label and the distance between the label and the camera by calibration. Then, the terminal of the present embodiment determines the orientation of the camera with respect to the label (that is, the angle of the camera with respect to the label) and the label and the camera based on the determined parameter and the image obtained by capturing the calibration label. Find the distance.
[0107] 次に、本発明の端末の第 1の実施形態の内部構成について図 3を参照して説明す る。図 3は、本発明の端末の第 1の実施形態の内部構成のブロック図である。本実施 形態の端末は、図 3に示すように、映像取得部 301とキャリブレーション計算部 302と から構成される。 Next, the internal configuration of the first exemplary embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 3 is a block diagram of the internal configuration of the first embodiment of the terminal of the present invention. Implementation As shown in FIG. 3, the terminal in the form includes a video acquisition unit 301 and a calibration calculation unit 302.
[0108] 映像取得部 301は、撮影された映像のデータを取得する。この映像取得部 301は 、カメラにより構成される。そして、キャリブレーション計算部 302は、取得された映像 中に存在する図 2に示されるキャリブレーションパターンから、ラベルに対するカメラ の向き、及び、ラベルとカメラとの間の距離を計算する。この計算は、前述の非特許 文献 1に示される、画像座標 (X , Y )から点 Pの世界座標 (X , y , z )を求める方法  [0108] The video acquisition unit 301 acquires data of a captured video. The video acquisition unit 301 is configured by a camera. Then, the calibration calculation unit 302 calculates the orientation of the camera with respect to the label and the distance between the label and the camera from the calibration pattern shown in FIG. 2 existing in the acquired video. This calculation is a method for obtaining the world coordinates (X, y, z) of the point P from the image coordinates (X, Y) shown in the aforementioned Non-Patent Document 1.
f f w w w  f f w w w
により行われる。すなわち、本実施形態の端末は、前述の非特許文献 1に示されるキ ヤリブレーシヨンを予め実行する。そして、本実施形態の端末は、キャリブレーション により計算されたカメラのパラメータを不図示のメモリに格納する。そして、本実施形 態の端末は、このパラメータを用いて、ラベルに対するカメラの向き、及び、ラベルと カメラとの間の距離を計算する。  Is done. That is, the terminal according to the present embodiment executes the calibration shown in Non-Patent Document 1 described above in advance. Then, the terminal of the present embodiment stores the camera parameters calculated by the calibration in a memory (not shown). Then, the terminal according to the present embodiment uses this parameter to calculate the orientation of the camera with respect to the label and the distance between the label and the camera.
[0109] また、本実施形態で使用されるラベルは三次元的な物体であってもよ!/、。この場合 はどの面をカメラが捉えて 、るかを知るために、三次元ラベルの各面毎にキヤリブレ ーシヨンパターンを変更する。またカメラは赤外線カメラであってもよい。また、ラベル は特殊な波長をもつ光や電波を発するものであってもよい。  [0109] The label used in this embodiment may be a three-dimensional object! /. In this case, the calibration pattern is changed for each surface of the three-dimensional label in order to know which surface the camera captures. The camera may be an infrared camera. The label may emit light or radio waves having a special wavelength.
[0110] このように、本発明の端末の第 1の実施形態は、キャリブレーションパターンが形成 されたラベルの映像を取得する。そして、端末は、取得した映像のキャリブレーション ノ ターン力もラベルに対するカメラの向き、及び、カメラとラベルとの間の距離を計算 する。よって、本実施形態では、カメラが搭載された端末の向きと、端末のラベルから の距離を精度良く測定することができる。  [0110] Thus, the first embodiment of the terminal of the present invention acquires a video of a label on which a calibration pattern is formed. Then, the terminal calculates the direction of the camera with respect to the label and the distance between the camera and the label as well as the calibration turn force of the acquired video. Therefore, in this embodiment, the direction of the terminal on which the camera is mounted and the distance from the terminal label can be accurately measured.
[0111] (端末の第 2の実施形態)  [0111] (Second Embodiment of Terminal)
次に、本発明の端末の第 2の実施形態について図 4を参照して説明する。図 4は、 本発明の端末の第 2の実施形態の内部構成のブロック図である。  Next, a second embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 4 is a block diagram of the internal configuration of the second embodiment of the terminal of the present invention.
[0112] 本実施形態の端末は、前述の第 1の実施形態の端末と比較して、距離測定部 403 を新たに設けたことに特徴がある。すなわち、映像取得部 401の機能は、図 1に示さ れる映像取得部 301の機能と同じである。また、キャリブレーション計算部 402の機 能は、図 1に示されるキャリブレーション計算部 302の機能と同じである。 [0113] 本実施形態は、信頼性の高い距離測定部 403を設ける。このため、本実施形態の 端末は、距離測定部 403によって、高精度にラベルとカメラとの間の距離を計算する ことができる。また、本実施形態は、前述の第 1の実施形態の端末のように、ラベルの みによる距離測定も可能である。また、距離測定部 403は、例えばミリレーダやステレ ォ視を用いた三角測量など、既存のものを使用することが可能である。 [0112] The terminal of the present embodiment is characterized in that a distance measurement unit 403 is newly provided as compared with the terminal of the first embodiment described above. That is, the function of the video acquisition unit 401 is the same as the function of the video acquisition unit 301 shown in FIG. The function of the calibration calculation unit 402 is the same as the function of the calibration calculation unit 302 shown in FIG. In this embodiment, a highly reliable distance measuring unit 403 is provided. For this reason, the terminal of this embodiment can calculate the distance between the label and the camera with high accuracy by the distance measuring unit 403. In addition, this embodiment can also measure distances using only labels, like the terminal of the first embodiment described above. The distance measuring unit 403 can use an existing one, such as triangulation using millimeter radar or stereo vision.
[0114] このように、本実施形態の端末は、前述の本発明の端末の第 1の実施形態と同様 の効果を得ることができると共に、端末とラベルとの間の距離を精度良く測定すること ができる。  [0114] Thus, the terminal of the present embodiment can obtain the same effects as those of the first embodiment of the terminal of the present invention described above, and accurately measures the distance between the terminal and the label. be able to.
[0115] (端末の第 3の実施形態)  [0115] (Third embodiment of terminal)
次に、本発明の端末の第 3の実施形態について図 5を参照して説明する。図 5は、 本発明の端末の第 3の実施形態の内部構成のブロック図である。  Next, a third embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 5 is a block diagram of the internal configuration of the third embodiment of the terminal of the present invention.
[0116] 本実施形態は、前述の本発明の端末の第 2の実施形態に比べて、端末に地理的 位置測定部 504を設けた点に特徴がある。すなわち、映像取得部 501の機能は、図 4に示される映像取得部 401の機能と同じである。また、キャリブレーション計算部 50 2の機能は、図 1に示されるキャリブレーション計算部 402の機能と同じである。また、 距離測定部 503の機能は、図 4に示される距離測定部 403の機能と同じである。  [0116] This embodiment is characterized in that the terminal is provided with a geographical position measurement unit 504, as compared with the second embodiment of the terminal of the present invention described above. That is, the function of the video acquisition unit 501 is the same as the function of the video acquisition unit 401 shown in FIG. The function of the calibration calculation unit 502 is the same as the function of the calibration calculation unit 402 shown in FIG. The function of the distance measurement unit 503 is the same as the function of the distance measurement unit 403 shown in FIG.
[0117] 地理的位置測定部 504は、 GPSなどの位置情報を取得するためのセンサである。  [0117] The geographical position measurement unit 504 is a sensor for acquiring position information such as GPS.
地理的位置測定部 504は GPSに限らず、 ICタグ、無線 LAN、携帯電話の基地局を 用いて地理的位置を測定する方法など、他の方法を用いても実施可能である。  The geographical location measurement unit 504 is not limited to GPS, but can be implemented using other methods such as a method of measuring the geographical location using an IC tag, a wireless LAN, or a mobile phone base station.
[0118] このように、本実施形態の端末は、端末が地図上でどの位置にあるのかを示す地 理的位置情報が、地理的位置測定部 504により測定される。そのため、本実施形態 の端末では、前述の本発明の端末の第 1の実施形態又は第 2の実施形態と同様の 効果が得られると共に、地理的位置測定部 504の位置情報力も端末がどの地域のラ ベルを撮影して 、るのかがわかる。  As described above, in the terminal according to the present embodiment, the geographical position information indicating the position of the terminal on the map is measured by the geographical position measuring unit 504. For this reason, the terminal of this embodiment can obtain the same effects as those of the first embodiment or the second embodiment of the terminal of the present invention described above, and the location information ability of the geographical location measuring unit 504 can be determined in any region. You can see the label by shooting the label.
[0119] (端末の第 4の実施形態)  [0119] (Fourth embodiment of terminal)
次に、本発明の端末の第 4の実施形態について図 6を参照して説明する。図 6は、 本発明の端末の第 4の実施形態に用いられるラベルの一例の概略図である。本実施 形態の端末の構成は、前述の本発明の第 1の実施形態の端末の構成と同じである。 ただし、本実施形態では、使用する端末として、本明細書中に記載されている、第 1 の実施形態の以外の他の実施形態の 、ずれかの端末を用いるとしても良 、。 Next, a fourth embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 6 is a schematic diagram of an example of a label used in the fourth embodiment of the terminal of the present invention. The configuration of the terminal according to the present embodiment is the same as the configuration of the terminal according to the first embodiment of the present invention described above. However, in this embodiment, as a terminal to be used, any one of the terminals described in this specification other than the first embodiment may be used.
[0120] 本実施形態の端末は、端末が撮影するキャリブレーションラベルに特徴を有する。  [0120] The terminal of this embodiment is characterized by a calibration label photographed by the terminal.
本実施形態のラベルは、図 6の ID (identification) 601に示すように、キヤリブレー シヨンラベル中にラベルの ID601を記載する。この ID601は、ラベルに記述可能な 数字、記号、文字、図形又はこれらの任意の組み合わせにより構成される。図 6に示 される ID601は、数字の 1となっている。この ID601は、他のラベルと識別するため使 用される。そのため、本実施形態では、各端末のキャリブレーション計算部が、映像 中の ID601を認識する。そして、キャリブレーション計算部は、端末が撮影しているラ ベルを IDにより特定する。また、本実施形態の端末は、 IDに対応したラベルを特定 するためのテーブルをメモリに格納する。  As shown in the ID (identification) 601 of FIG. 6, the label of this embodiment describes the label ID 601 in the calibration label. This ID 601 is composed of numbers, symbols, characters, figures, or any combination thereof that can be described on the label. The ID 601 shown in FIG. This ID 601 is used to distinguish it from other labels. Therefore, in this embodiment, the calibration calculation unit of each terminal recognizes the ID 601 in the video. Then, the calibration calculation unit identifies the label that the terminal is photographing by ID. In addition, the terminal of the present embodiment stores a table for specifying a label corresponding to the ID in the memory.
[0121] また、本実施形態では、ラベルの ID601は地域が異なっていれば同一の ID601が 存在してもよい。例えば、 ID601が 1の場合、新宿と札幌に同一の IDのラベルが存 在してもよい。この場合、端末が存在する地域を区別するために、 GPSなどの位置情 報を取得するための手段を用いる。この GPSの位置情報により、本実施形態では、ラ ベルの ID601である 1が札幌のものなの力 新宿のものなのか区別可能となる。  In the present embodiment, the same ID 601 may exist as long as the label ID 601 is different in the region. For example, if ID601 is 1, the same ID label may exist in Shinjuku and Sapporo. In this case, a means for acquiring location information such as GPS is used to distinguish the region where the terminal is located. According to this GPS position information, in this embodiment, it is possible to distinguish whether the label ID 601 is from Sapporo or Shinjuku.
[0122] このように、本実施形態では、端末が使用するラベルに ID601を含める。そのため 、本実施形態の端末は、映像を取得したラベルを、 ID601に基づいて特定すること ができる。そのため、本実施形態の端末は、本発明の第 1の実施形態と同様の効果、 又は、第 1の実施形態の以外の他の実施形態のいずれかの端末を使用した場合は 第 1の実施形態の以外の他の実施形態のいずれかの端末と同様の効果を得ることが できると共に、 ID601と地域との対応関係を把握していれば、ラベルの ID601から端 末がどの地域のラベルの映像を取得しているかが分かる。そのため、本実施形態で は、同一のキャリブレーションパターンを有するラベルを使用することができる。  Thus, in this embodiment, ID 601 is included in the label used by the terminal. Therefore, the terminal of the present embodiment can specify the label from which the video has been acquired based on ID601. Therefore, the terminal of the present embodiment has the same effect as that of the first embodiment of the present invention, or when the terminal of any of the other embodiments other than the first embodiment is used. As long as the same effect as the terminal of any of the other embodiments other than the form can be obtained, and the correspondence between ID601 and the region is known, the label of the region where the terminal is from ID601 of the label You can see if you are acquiring video. Therefore, in this embodiment, labels having the same calibration pattern can be used.
[0123] (端末の第 5の実施形態)  [0123] (Fifth embodiment of terminal)
次に、本発明の端末の第 5の実施形態について図 7を参照して説明する。図 7は、 本発明の端末の第 5の実施形態が使用される情報提供システムの概略図である。  Next, a fifth embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 7 is a schematic diagram of an information providing system in which the fifth embodiment of the terminal of the present invention is used.
[0124] 図 7に示される情報提供システムは、本発明の端末の第 5の実施形態である端末 7 01と、ネットワーク 702と、サーバ 703とを備える。また、本実施形態の端末 701が映 像を取得するラベルは、図 2に示されるラベルであっても、前述の本発明の端末の第 4の実施形態の説明のように図 6に示される ID601が付与されたラベルであっても良 い。 [0124] The information providing system shown in FIG. 7 is a terminal 7 according to a fifth embodiment of the terminal of the present invention. 01, a network 702, and a server 703. Further, even if the label from which the terminal 701 of the present embodiment acquires an image is the label shown in FIG. 2, it is shown in FIG. 6 as described above in the fourth embodiment of the terminal of the present invention. A label with ID 601 may be used.
[0125] 端末 701は、映像取得部 704と、キャリブレーション問合わせ部 705と、地理的位 置測定部 706と、ネットワーク通信部 707とを備える。なお、図 7に示される映像取得 部 704は、図 3に示される映像取得部 301と同様の機能を有する。また、図 7に示さ れる地理的位置測定部 706は、図 5に示される地理的位置測定部 504と同様の機能 を有する。  The terminal 701 includes a video acquisition unit 704, a calibration inquiry unit 705, a geographical position measurement unit 706, and a network communication unit 707. Note that the video acquisition unit 704 shown in FIG. 7 has the same function as the video acquisition unit 301 shown in FIG. Further, the geographical position measuring unit 706 shown in FIG. 7 has the same function as the geographical position measuring unit 504 shown in FIG.
[0126] 端末 701として持ち運びできる小型のものを想定した場合 (たとえば携帯電話)、端 末 701の CPUは大型の端末の CPUと比較して性能面で劣る場合が多い。そこで、 キャリブレーションなどの計算は、端末で行わせるよりもネットワークを介して端末より 高い計算能力を有するサーバに行わせる方が良い。  [0126] When assuming a small portable terminal 701 (for example, a mobile phone), the CPU of the terminal 701 is often inferior in performance compared to the CPU of a large terminal. Therefore, it is better to have a calculation such as calibration performed by a server having a higher computing capacity than the terminal via the network rather than the terminal.
[0127] 図 7に示されるキャリブレーション問合わせ部 705は、サーバ 703にキヤリブレーショ ンの計算を行わせる。そのため、キャリブレーション問合わせ部 705は、キヤリブレー シヨンパターンを含む映像をサーバ 703へ送信する。また、この場合、キヤリブレーシ ヨン問合わせ部 705は、キャリブレーションにより得られたカメラのパラメータをサーバ 703に送信する。  The calibration inquiry unit 705 shown in FIG. 7 causes the server 703 to calculate the calibration. Therefore, the calibration inquiry unit 705 transmits an image including the calibration pattern to the server 703. In this case, the calibration inquiry unit 705 transmits the camera parameters obtained by the calibration to the server 703.
[0128] また、ネットワーク通信部 707は、端末 701とサーバ 703との間の通信を制御する。  In addition, the network communication unit 707 controls communication between the terminal 701 and the server 703.
このように、端末 701は、キャリブレーションパターンを含む映像を、ネットワーク 702 を介してサーバ 703に送信する。  As described above, the terminal 701 transmits the video including the calibration pattern to the server 703 via the network 702.
[0129] サーバ 703は、端末 701から送信されたキャリブレーションパターンを含む映像を 受信する。また、サーバ 703は、端末 701から送信されたキャリブレーションにより得 られたカメラのパラメータを受信する。そして、サーバ 703は受信した映像とカメラの パラメータとに基づいて、カメラの向き、ラベルとカメラとの間の距離を計算する。そし て、サーバ 703は、ネットワーク 702とネットワーク通信部 707を介して、キヤリブレー シヨン問合わせ部 705に計算結果を送信する。そして、キャリブレーション問合わせ 部 705は、サーバ 703からの計算結果を受信する。 [0130] また、ネットワーク 702は携帯電話網でもよ!/、し、無線 LANなどのネットワークでもよ い。ネットワーク通信部 707は、利用可能なネットワークを単独又は複数備えることも 可能である。 Server 703 receives the video including the calibration pattern transmitted from terminal 701. The server 703 receives camera parameters obtained by calibration transmitted from the terminal 701. Then, the server 703 calculates the camera direction and the distance between the label and the camera based on the received video and the camera parameters. Then, the server 703 transmits the calculation result to the calibration inquiry unit 705 via the network 702 and the network communication unit 707. The calibration inquiry unit 705 receives the calculation result from the server 703. [0130] The network 702 may be a mobile phone network! /, Or a network such as a wireless LAN. The network communication unit 707 can include one or more available networks.
[0131] このように、本実施形態では、ラベルに対するカメラの向きや、カメラとラベルとの間 の距離などの情報は、サーバ 703によって計算される。そのため、本実施形態では、 前述の第 1の実施形態、第 3の実施形態及び第 4の実施形態と同様の効果を得るこ とができると共に、端末 701における計算の負荷を軽減することができる。  Thus, in this embodiment, the server 703 calculates information such as the camera orientation relative to the label and the distance between the camera and the label. Therefore, in this embodiment, the same effects as those of the first embodiment, the third embodiment, and the fourth embodiment described above can be obtained, and the calculation load on the terminal 701 can be reduced. .
[0132] (端末の第 6の実施形態)  [0132] (Sixth embodiment of terminal)
次に、本発明の端末の第 6の実施形態について図 8を参照して説明する。図 8は、 本発明の端末の第 6の実施形態が使用される情報提供システムの概略図である。  Next, a sixth embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 8 is a schematic diagram of an information providing system in which the sixth embodiment of the terminal of the present invention is used.
[0133] 図 8に示されるように、本発明の端末の第 6の実施形態が使用される情報提供シス テムは、本発明の端末の第 6の実施形態である端末 801と、ネットワーク 802と、サー ノ 03とを備える。また、本実施形態の端末 801が映像を取得するラベルは、図 2に 示されるラベルであっても、前述の本発明の端末の第 4の実施形態の説明のように図 6に示される ID601が付与されたラベルであっても良!、。  [0133] As shown in Fig. 8, the information providing system in which the sixth embodiment of the terminal of the present invention is used includes a terminal 801, a network 802, and a sixth embodiment of the terminal of the present invention. And Sano 03. Further, even if the label from which the terminal 801 of the present embodiment acquires the video is the label illustrated in FIG. 2, the ID 601 illustrated in FIG. 6 is used as described in the fourth embodiment of the terminal of the present invention described above. Even a label with can be added!
[0134] 映像取得部 804は、図 3に示される映像取得部 301と同様の機能を有する。キヤリ ブレーシヨン計算部 805は、図 3に示されるキャリブレーション計算部 302と同様の機 能を有する。キャリブレーション問合わせ部 806は、図 7に示されるキャリブレーション 問合わせ部 705と同様の機能を有する。地理的位置測定部 807は、図 5に示される 地理的位置測定部 504と同様の機能を有する。ネットワーク通信部 812は、図 7に示 されるネットワーク通信部 707と同様の機能を有する。  [0134] The video acquisition unit 804 has the same function as the video acquisition unit 301 shown in FIG. The calibration calculation unit 805 has the same function as the calibration calculation unit 302 shown in FIG. The calibration inquiry unit 806 has the same function as the calibration inquiry unit 705 shown in FIG. The geographic location measuring unit 807 has the same function as the geographic location measuring unit 504 shown in FIG. The network communication unit 812 has the same function as the network communication unit 707 shown in FIG.
[0135] サーバ問合せ部 808は、サーバ 803に情報の送信を要求する。問合せ結果受信 部 809は、サーバ 803から送信された情報を受信する。サーバ問合わせ部 808は、 ネットワーク通信部 812及びネットワーク 802を介してサーバ 803に情報提供を求め る。そして、問合わせ結果受信部 809は、ネットワーク 802及びネットワーク通信部 81 2を介して、サーバ 803から送信された情報を受信する。  The server inquiry unit 808 requests the server 803 to transmit information. The inquiry result receiving unit 809 receives information transmitted from the server 803. The server inquiry unit 808 requests the server 803 to provide information via the network communication unit 812 and the network 802. Then, the inquiry result receiving unit 809 receives information transmitted from the server 803 via the network 802 and the network communication unit 812.
[0136] サーバ問合わせ部 808は、サーバ 803に情報の送信を要求する場合に、サーバ 8 03に所定の端末の情報を送信する。このサーバ 803に送信される所定の端末の情 報には、少なくとも、ラベルに対するカメラの向き及びカメラとラベルとの間の距離、又 は、キャリブレーションパターンを含むラベルの映像及びキャリブレーションにより計 算されたカメラのパラメータが含まれる。また、このサーバ 803に送信される情報には 、端末の存在する地理的位置及びラベル IDのうちの少なくとも一方を含めるとしても 良い。 When the server inquiry unit 808 requests the server 803 to transmit information, the server inquiry unit 808 transmits information on a predetermined terminal to the server 803. Information of a predetermined terminal transmitted to this server 803 The information includes at least the camera orientation relative to the label and the distance between the camera and the label, or the image of the label including the calibration pattern and the camera parameters calculated by the calibration. Further, the information transmitted to the server 803 may include at least one of the geographical location where the terminal exists and the label ID.
[0137] また、サーバ 803から送信された情報には、映像取得部 804が取得した映像の中 における、情報を表示する位置、情報を表示する大きさの情報を含む。そして、映像 合成部 810は、映像取得部 804が取得した映像の中における、情報を表示する位置 、情報を表示する大きさの情報に基づいて、映像取得部 804が取得した映像と、サ ーバ 803から送信された情報に対応する映像とを合成する。  [0137] The information transmitted from server 803 includes information display position and information display size information in the video acquired by video acquisition section 804. Then, the video composition unit 810 and the video acquired by the video acquisition unit 804 based on the information display position and the size of the information display size in the video acquired by the video acquisition unit 804 The video corresponding to the information transmitted from the bar 803 is synthesized.
[0138] 表示部 811は、映像合成部 810が合成した映像を表示する。この表示例は、図 9の  Display unit 811 displays the video synthesized by video synthesis unit 810. This display example is shown in Figure 9.
(a)に示される。また、表示部 811は、不図示のウェブサーバから取得した情報をゥェ ブページとして表示する。このウェブページの表示例は、図 9の(b)に示される。図 9 は、本発明の端末の第 6の実施形態に表示される映像の概念図である。  Shown in (a). The display unit 811 displays information acquired from a web server (not shown) as a web page. A display example of this web page is shown in FIG. FIG. 9 is a conceptual diagram of an image displayed on the sixth embodiment of the terminal of the present invention.
[0139] 本実施形態の端末では、例えば、図 9の(a)に示されるように、 CGによる情報 901、 情報 902及び情報 903が、サーバ 803から端末 801に送信される。図 9の(a)には、 情報 901、情報 902及び情報 903と、ラベル 904とが示されている。  In the terminal of the present embodiment, for example, as shown in FIG. 9A, information 901, information 902, and information 903 by CG are transmitted from the server 803 to the terminal 801. In FIG. 9 (a), information 901, information 902 and information 903, and a label 904 are shown.
[0140] 図 9の(a)に示されるように、これらの情報 901、情報 902及び情報 903は、例えば 建物の名称を表示する。これらの情報 901、情報 902及び情報 903は、ユーザの目 の前に広がる風景の中の建物の映像に引き出し線で関連付けられて表示される。す なわち、本実施形態では、図 9の(a)に示されるように、映像内の建物などに関連した 情報が表示される。  As shown in (a) of FIG. 9, these information 901, information 902, and information 903 display the name of a building, for example. The information 901, the information 902, and the information 903 are displayed in association with a video image of a building in the landscape spreading in front of the user's eyes. In other words, in this embodiment, as shown in (a) of FIG. 9, information related to the building in the video is displayed.
[0141] もちろん、本発明は、これらの情報 901、情報 902及び情報 903がユーザの目の前 に広がる風景の中の建物の映像に引き出し線で関連付けられて表示される場合に 限定されるものではない。本発明では、これらの情報 901、情報 902及び情報 903と 、これらの各情報に対応する建物などの対象とが対応付けられていれば良い。  [0141] Of course, the present invention is limited to the case where the information 901, information 902, and information 903 are displayed in association with a video image of a building in the landscape spreading in front of the user. is not. In the present invention, these information 901, information 902, and information 903 need only be associated with objects such as buildings corresponding to these pieces of information.
[0142] これらの情報 901、情報 902及び情報 903は、ネットワーク上の不図示のウェブサ ーバが格納している情報に対してリンクが張られている。そして、ユーザが、情報 901 、情報 902及び情報 903をクリックすると、情報 901、情報 902及び情報 903にリンク された情報が、リンク先のウェブサーノ から端末 801に送信される。 [0142] The information 901, information 902, and information 903 are linked to information stored in a web server (not shown) on the network. And the user can get information 901 When the information 902 and the information 903 are clicked, the information linked to the information 901, the information 902, and the information 903 is transmitted from the linked websano to the terminal 801.
[0143] ユーザが、情報 901、情報 902及び情報 903をクリックすると、例えば図 9の(b)に 示されるようにウェブページ 905が端末に表示される。図 9の(b)に示される例では、 レストランの情報に対して、サービスメニューの情報が表示されている。もちろん、本 発明では、情報は、ゥヱブページとして表示されなくとも、その他の適切な表示方法 であっても良い。 When the user clicks the information 901, the information 902, and the information 903, a web page 905 is displayed on the terminal as shown in FIG. 9B, for example. In the example shown in (b) of Fig. 9, service menu information is displayed for restaurant information. Of course, in the present invention, the information may not be displayed as a web page, but may be another appropriate display method.
[0144] そして、本実施形態では、情報 901、情報 902及び情報 903などの CG映像は、端 末 801の計算負荷を削減するため、予めサーバによって作成される。そして、本実施 形態の端末 801は、情報 901、情報 902及び情報 903などの CG映像を受信する。 そして、図 9の(a)に示されるように、本実施形態の端末 801は、情報 901、情報 902 及び情報 903などの CG映像を現実の風景の映像と重ねて表示する。この場合、情 報 901、情報 902及び情報 903などの CG映像と、現実の風景の映像との位置関係 は、ラベルに対するカメラの向きと、カメラとラベルとの間の距離力 計算される。また 、本実施形態の端末は、サーノ から受信した情報を用いて表示する映像を作成する としても良い。また、本実施形態の端末は、ラベルに対するカメラの向きとカメラとラベ ルとの間の距離とに基づいて、情報 901、情報 902及び情報 903などの CG映像を 表示する位置及び大きさを決定するとしても良い。  In this embodiment, CG images such as information 901, information 902, and information 903 are created in advance by the server in order to reduce the calculation load on the terminal 801. Then, the terminal 801 of this embodiment receives CG images such as information 901, information 902, and information 903. Then, as shown in FIG. 9 (a), the terminal 801 of the present embodiment displays a CG image such as information 901, information 902, and information 903 superimposed on the actual landscape image. In this case, the positional relationship between the CG image such as information 901, information 902, and information 903 and the image of the actual landscape is calculated as the direction of the camera relative to the label and the distance force between the camera and the label. In addition, the terminal according to the present embodiment may create an image to be displayed using information received from Sano. In addition, the terminal according to the present embodiment determines the position and size for displaying CG images such as information 901, information 902, and information 903 based on the orientation of the camera with respect to the label and the distance between the camera and the label. You may do that.
[0145] 本実施形態では、図 9の(a)に示されるように、 CGによる情報 901、情報 902及び 情報 903が、現実の風景の映像に重ねて表示される。本実施形態は、カメラの撮影 範囲内にラベル 904を収める。そして、本実施形態は、ラベル 904のキヤリブレーショ ンパターンから、ラベルに対するカメラの向きと、ラベル 904とカメラとの間を計算する 。もちろん、前述の第 5の実施形態の端末のように、サーバに、ラベルに対するカメラ の向きと、ラベルとカメラとの間を計算させても良い。本実施形態が、ラベル 904のキ ヤリブレーシヨンパターンから、カメラの向きと、ラベル 904とカメラとの間を計算する方 法は、前述の第 1の実施形態の端末と同様の方法による。そして、本実施形態は、従 来技術よりも高精度に CGの映像と現実の風景の映像とを重ねあわせることが可能で ある。 [0146] つまり、本実施形態の端末 801は、サーバ 803に情報を問い合わせる。ここで、本 実施形態の端末 801は、サーバ 803に対して、無線ネットワークや有線ネットワーク、 もしくは両方を経由してアクセス可能である。そして、本実施形態の端末 801は、サ ーバ 803から情報を受信する。そして、本実施形態の端末 801は、 CGによる情報 90 1、情報 902及び情報 903のような情報の映像を、風景の映像に合成して表示する。 そのため、本実施形態の端末 801は、前述の本発明の端末の第 1の実施形態、第 3 の実施形態、第 4の実施形態及び第 5の実施形態と同様の効果を得ることができると 共に、ユーザに有益な情報を提供することができる。 In the present embodiment, as shown in FIG. 9A, information 901, information 902, and information 903 by CG are displayed so as to be superimposed on an actual landscape image. In the present embodiment, the label 904 is placed within the shooting range of the camera. In the present embodiment, the orientation of the camera with respect to the label and the distance between the label 904 and the camera are calculated from the calibration pattern of the label 904. Of course, like the terminal of the fifth embodiment described above, the server may calculate the orientation of the camera with respect to the label and between the label and the camera. The method of calculating the camera orientation and the distance between the label 904 and the camera from the calibration pattern of the label 904 according to the present embodiment is the same method as the terminal of the first embodiment described above. In this embodiment, it is possible to superimpose a CG image and a real landscape image with higher accuracy than in the conventional technology. That is, the terminal 801 of this embodiment inquires of the server 803 for information. Here, the terminal 801 of the present embodiment can access the server 803 via a wireless network, a wired network, or both. The terminal 801 of this embodiment receives information from the server 803. Then, the terminal 801 of the present embodiment synthesizes and displays a video of information such as information 901, information 902, and information 903 by CG with a landscape video. Therefore, the terminal 801 of the present embodiment can obtain the same effects as those of the first embodiment, the third embodiment, the fourth embodiment, and the fifth embodiment of the terminal of the present invention described above. Both can provide useful information to the user.
[0147] (端末の第 7の実施形態)  [0147] (Seventh embodiment of terminal)
次に、本発明の端末の第 7の実施形態について図 10を参照して説明する。図 10 は、本発明の端末の第 7の実施形態が使用される情報提供システムの概略図である  Next, a seventh embodiment of the terminal of the present invention will be described with reference to FIG. FIG. 10 is a schematic diagram of an information providing system in which the seventh embodiment of the terminal of the present invention is used.
[0148] 図 10に示されるように、本発明の端末の第 7の実施形態が使用される情報提供シ ステムは、本発明の端末の第 7の実施形態である端末 1001と、ネットワーク 1002と、 サーバ 1003とを備える。また、本実施形態の端末 1001が映像を取得するラベルは 、図 2に示されるラベルであっても、前述の本発明の端末の第 4の実施形態の説明の ように図 6に示される ID601が付与されたラベルであっても良い。 [0148] As shown in FIG. 10, the information providing system in which the seventh embodiment of the terminal of the present invention is used is a terminal 1001, which is the seventh embodiment of the terminal of the present invention, a network 1002, and And server 1003. Further, even if the label from which the terminal 1001 of the present embodiment acquires video is the label shown in FIG. 2, the ID 601 shown in FIG. 6 is used as described in the fourth embodiment of the terminal of the present invention described above. May be given a label.
[0149] そして、本実施形態の端末 1001の内部構成は、図 8に示される端末 801の内部構 成に加えて、映像追随部 1013が追加されている。そのため、映像取得部 1004は、 図 3に示される映像取得部 301と同様の機能を有する。キャリブレーション計算部 10 05は、図 3に示されるキャリブレーション計算部 302と同様の機能を有する。キヤリブ レーシヨン問合わせ部 1006は、図 8に示されるキャリブレーション問合わせ部 806と 同様の機能を有する。地理的位置測定部 1007は、図 8に示される地理的位置測定 部 807と同様の機能を有する。サーバ問合わせ部 1008は、図 8に示されるサーバ問 合わせ部 808と同様の機能を有する。問合わせ結果受信手段 1009は、図 8に示さ れる問合わせ結果受信手段 809と同様の機能を有する。表示部 1011は、図 8に示 される表示部 811と同様の機能を有する。  [0149] Further, in the internal configuration of the terminal 1001 of the present embodiment, a video follower 1013 is added to the internal configuration of the terminal 801 shown in FIG. Therefore, the video acquisition unit 1004 has the same function as the video acquisition unit 301 shown in FIG. The calibration calculation unit 1005 has the same function as the calibration calculation unit 302 shown in FIG. The calibration inquiry unit 1006 has the same function as the calibration inquiry unit 806 shown in FIG. The geographic location measuring unit 1007 has the same function as the geographic location measuring unit 807 shown in FIG. The server inquiry unit 1008 has the same function as the server inquiry unit 808 shown in FIG. The inquiry result receiving means 1009 has the same function as the inquiry result receiving means 809 shown in FIG. The display portion 1011 has the same function as the display portion 811 shown in FIG.
[0150] 映像合成部 1010は、映像追随部 1013が取得した、端末が移動した向き及び端 末の移動した距離とに基づいて、風景の映像に合成する映像、合成する映像の位置 及び合成する映像の大きさを変化させる。 [0150] The video composition unit 1010 acquires the direction and edge of the movement of the terminal acquired by the video tracking unit 1013. Based on the distance moved at the end, the video to be synthesized with the landscape video, the position of the video to be synthesized, and the size of the video to be synthesized are changed.
[0151] 本実施形態の構成は、前述の第 6の実施形態の構成に、映像追随部 1013が追加 される構成である。映像追随部 1013は図 3、 4、 5、 7に示される各実施形態の端末 内にそれぞれ追加されてもよい。映像追随部 1013は、例えば MPEGなどの圧縮方 式で用いられる動き推定(Motion Estimation)を用いる。ただし、本発明は、動き 推定以外の映像の動きを推定する手段を用いることもできる。  The configuration of this embodiment is a configuration in which a video follower 1013 is added to the configuration of the sixth embodiment described above. The video follower 1013 may be added to the terminals of the embodiments shown in FIGS. 3, 4, 5, and 7, respectively. The video follower 1013 uses motion estimation used in a compression method such as MPEG. However, the present invention can also use means for estimating video motion other than motion estimation.
[0152] 図 10に示される映像追随部 1013の動作について図 11及び図 12を参照して説明 する。図 11及び図 12は、本発明の端末の第 7の実施形態における映像追随部の動 作を説明するための概念図である。  [0152] The operation of the video follower 1013 shown in Fig. 10 will be described with reference to Figs. 11 and 12 are conceptual diagrams for explaining the operation of the video follower in the seventh embodiment of the terminal of the present invention.
[0153] キャリブレーション計算部 1005は、図 11の(a)の画面で写されていたラベルでカメ ラの向きと、ラベルとカメラとの間の距離を検出する。その後、図 11の(b)に示される ように、ユーザがラベルが画面から外れる領域に端末を移動させる。  [0153] The calibration calculation unit 1005 detects the orientation of the camera and the distance between the label and the camera from the label copied on the screen of Fig. 11 (a). After that, as shown in Fig. 11 (b), the user moves the terminal to the area where the label is off the screen.
[0154] この場合、映像追随部 1013は、図 12の(a)、(b)及び (c)で示されているように、 画像の一部あるいは全体を矩形ブロックで区切る。そして、映像追随部 1013は、同 一輝度パターンをもつ矩形がカメラの移動と共にどのように動 、て 、くかを検出する。 この検出結果により、本実施形態の端末の映像追随部 1013は、カメラの向きの変化 と、ラベルとカメラとの間の距離の変化を検出する。  In this case, as shown in FIGS. 12A, 12B, and 12C, the video follower 1013 divides a part or the whole of the image with rectangular blocks. Then, the video follower 1013 detects how the rectangle having the same luminance pattern moves as the camera moves. Based on this detection result, the video follower 1013 of the terminal according to the present embodiment detects a change in the direction of the camera and a change in the distance between the label and the camera.
[0155] そして、映像合成部 1010は、端末が移動する前にラベルを撮影することによって 得られた、ラベルに対するカメラの向き及びラベルとカメラとの間の距離の情報と、力 メラの向きの変化の情報及びラベルとカメラとの間の距離の変化の情報とに基づいて 、 CG映像を更新する。このようにして、本実施形態の端末は、 CGの映像と実世界の 映像とが適切に重ね合わされた状態を維持する。  [0155] Then, the video composition unit 1010 obtains information on the orientation of the camera relative to the label, the distance between the label and the camera, and the orientation of the power camera obtained by photographing the label before the terminal moves. Based on the change information and the change information of the distance between the label and the camera, the CG image is updated. In this manner, the terminal according to the present embodiment maintains a state in which the CG video and the real-world video are appropriately superimposed.
[0156] ここで、図 10に示される映像追随部 1013は、例えば、端末の向きの変化や移動距 離を、オプティカルフローを用いて測定する。ただし、本発明の端末は、端末の向き の変化や移動距離を、磁気センサによって測定しても良い。  Here, the video follower 1013 shown in FIG. 10 measures, for example, a change in the orientation of the terminal and a moving distance using an optical flow. However, the terminal of the present invention may measure a change in the orientation of the terminal and a moving distance using a magnetic sensor.
[0157] このように、本実施形態の端末では、前述の第 6の実施形態の端末と同様の効果を 得ることができると共に、端末の動きにあわせて CGの映像を更新することができる。 そして、本実施形態の端末は、 CGの映像と実世界の映像とを適切に重ね合わせて 表示する状態を維持することができる。 Thus, the terminal of the present embodiment can obtain the same effects as those of the terminal of the sixth embodiment described above, and can update the CG video in accordance with the movement of the terminal. The terminal according to the present embodiment can maintain a state in which the CG video and the real-world video are appropriately superimposed and displayed.
[0158] (サーバの第 1の実施形態)  [0158] (First embodiment of server)
次に、本発明のサーバの第 1の実施形態について図 13を参照して説明する。図 13 は、本発明のサーバの第 1の実施形態の内部構成のブロック図である。  Next, a first embodiment of the server of the present invention will be described with reference to FIG. FIG. 13 is a block diagram of the internal configuration of the first exemplary embodiment of the server of the present invention.
[0159] 本実施形態は、前述の本発明の端末の第 6の実施形態又は第 7の実施形態から 情報の送信の要求を受けるサーバである。本実施形態のサーバは、図 13に示すよう に、キャリブレーション問合わせ受信部 1301、キャリブレーション計算部 1302、サー バ問合せ受信部 1303、問合せ結果送信部 1304、リンク情報管理部 1305、データ 記憶部 1306及びネットワーク通信部 1307を有する。  This embodiment is a server that receives a request for information transmission from the sixth embodiment or the seventh embodiment of the terminal of the present invention described above. As shown in FIG. 13, the server according to the present embodiment includes a calibration inquiry reception unit 1301, a calibration calculation unit 1302, a server inquiry reception unit 1303, an inquiry result transmission unit 1304, a link information management unit 1305, and a data storage unit. 1306 and a network communication unit 1307.
[0160] キャリブレーション問合わせ受信部 1301は、端末からキャリブレーションパターンを 含む映像の情報を受信する。また、キャリブレーション問合わせ受信部 1301は、端 末力も送信されたキャリブレーションにより得られたカメラのパラメータを受信する。  [0160] The calibration inquiry receiving unit 1301 receives video information including a calibration pattern from the terminal. Further, the calibration inquiry receiving unit 1301 receives the camera parameters obtained by the calibration in which the terminal force is also transmitted.
[0161] キャリブレーション問合わせ受信部 1301が映像の情報及びパラメータを受信した 場合、キャリブレーション計算部 1302は、受信したキャリブレーションパターンの映像 の情報とパラメータとから、ラベルに対するカメラの向き、カメラとラベルとの間の距離 を計算する。  [0161] When the calibration inquiry reception unit 1301 receives video information and parameters, the calibration calculation unit 1302 uses the received calibration pattern video information and parameters to determine the camera direction and camera Calculate the distance to the label.
[0162] サーバ問合せ受信部 1303は端末から、ラベルに対するカメラの向き、カメラとラベ ルとの間の距離、及び、キャリブレーションパターンを含むラベルの映像の情報及び キャリブレーションにより計算されたパラメータの少なくともいずれか一方を受信する。  [0162] The server inquiry reception unit 1303 receives from the terminal at least the orientation of the camera with respect to the label, the distance between the camera and the label, the video information of the label including the calibration pattern, and the parameters calculated by the calibration. Either one is received.
[0163] また、このサーバ問合わせ受信部 1303は、さらに、端末の存在する地理的位置及 びラベル IDのうちの少なくとも一方を受信するとしても良い。そして、リンク情報管理 部 1305は、これら受信した情報に基づ 、てデータ記憶部 1306から情報を抽出する  [0163] Further, this server inquiry reception unit 1303 may further receive at least one of the geographical location where the terminal exists and the label ID. Then, the link information management unit 1305 extracts information from the data storage unit 1306 based on the received information.
[0164] すなわち、データ記憶部 1306に記憶されている情報は、少なくとも、ラベルに対す るカメラの向き及びラベルとカメラとの間の距離とに基づいて分類されている。そして 、リンク情報管理部 1305は、サーバ問合わせ受信部 1303が受信した情報から、ラ ベルに対するカメラの向き及びカメラとラベルとの間の距離の情報を抽出する。そし て、リンク情報管理部 1305は、ラベルに対するカメラの向き、カメラとラベルとの間の 距離の情報に基づいて、データ記憶部 1306から情報を抽出する。 That is, the information stored in the data storage unit 1306 is classified based on at least the orientation of the camera with respect to the label and the distance between the label and the camera. Then, the link information management unit 1305 extracts information on the direction of the camera relative to the label and the distance between the camera and the label from the information received by the server inquiry reception unit 1303. And Thus, the link information management unit 1305 extracts information from the data storage unit 1306 based on information on the direction of the camera relative to the label and the distance between the camera and the label.
[0165] そして、問合せ結果送信部 1304は、リンク情報管理部 1305によりデータ記憶部 1 306から抽出された情報を端末に送信する。ここで、問合わせ結果送信部 1304は、 ラベルに対するカメラの向き、カメラとラベルとの間の距離に基づいて、データ記憶部 1306から抽出された情報が表示される位置、大きさに関する情報を計算する。そし て、問合わせ結果送信部 1304は、情報が表示される位置及び大きさに関する情報 を端末に送信する。問合わせ結果送信部 1304から端末に送信される情報は、例え ば、図 9の(a)に示される情報 901、情報 902及び情報 903のような情報である。  [0165] Then, the inquiry result transmission unit 1304 transmits the information extracted from the data storage unit 1 306 by the link information management unit 1305 to the terminal. Here, the inquiry result transmission unit 1304 calculates information on the position and size at which the information extracted from the data storage unit 1306 is displayed based on the orientation of the camera with respect to the label and the distance between the camera and the label. To do. Then, the inquiry result transmission unit 1304 transmits information regarding a position and a size at which the information is displayed to the terminal. The information transmitted from the inquiry result transmission unit 1304 to the terminal is information such as information 901, information 902, and information 903 shown in (a) of FIG. 9, for example.
[0166] ラベルに対するカメラの向き及びラベルとカメラとの間の距離が端末力もサーバに 送信されない場合、キャリブレーション計算部 1302は、ラベルに対するカメラの向き 及びラベルとカメラとの間の距離を計算する。  [0166] When the camera orientation with respect to the label and the distance between the label and the camera are not transmitted to the server, the calibration calculation unit 1302 calculates the camera orientation with respect to the label and the distance between the label and the camera. .
[0167] 例えば、端末がキャリブレーション計算部を持たな 、場合、キャリブレーション問合 わせ受信部 1301は、キャリブレーションラベルの映像とパラメータとを端末力も受信 する。  [0167] For example, if the terminal does not have a calibration calculation unit, the calibration inquiry reception unit 1301 also receives the video and parameters of the calibration label with the terminal power.
[0168] そして、キャリブレーション計算部 1302は、ラベルに対するカメラの向きと、カメラと ラベルとの間の距離を、キャリブレーションパターンとパラメータとから計算する。この 計算は、前述の本発明の端末の第 1の実施形態で説明した計算と同じである。そし て、リンク情報管理部 1305が、キャリブレーション計算部 1302の計算結果を用いて 、データ記憶部 1306から情報を抽出する。  [0168] Then, the calibration calculation unit 1302 calculates the orientation of the camera with respect to the label and the distance between the camera and the label from the calibration pattern and the parameters. This calculation is the same as the calculation described in the first embodiment of the terminal of the present invention described above. Then, the link information management unit 1305 extracts information from the data storage unit 1306 using the calculation result of the calibration calculation unit 1302.
[0169] データ記憶部 1306には、ラベルに対するカメラの向き及びカメラとラベルとの間の 距離と、端末に表示される情報とが対応付けられて格納されている。また、データ記 憶部 1306に格納されている情報は、さらに、 GPSなどによって得られる地理的位置 情報などの位置情報及びラベル IDの少なくとも一方と対応付けられて格納されてい るとしても良い。  [0169] The data storage unit 1306 stores the orientation of the camera relative to the label, the distance between the camera and the label, and information displayed on the terminal in association with each other. In addition, the information stored in the data storage unit 1306 may be stored in association with at least one of position information such as geographical position information obtained by GPS or the like and a label ID.
[0170] このように、本実施形態のサーバは、端末力も情報の取得要求を受ける。そして、 本実施形態のサーバは、端末から送信される、ラベルに対するカメラの向き、カメラと ラベルとの間の距離、 GPSなどによって得られる地理的位置、ラベル IDなどの情報 に対応した情報を、端末に送信することができる。 [0170] As described above, the server according to the present embodiment also receives an information acquisition request for the terminal power. The server of the present embodiment transmits information from the terminal, such as the camera orientation relative to the label, the distance between the camera and the label, the geographical position obtained by GPS, and the label ID. Can be sent to the terminal.
[0171] (サーバの第 2の実施形態)  [0171] (Second Embodiment of Server)
次に、本発明のサーバの第 2の実施形態について図 14を参照して説明する。図 14 は、本発明のサーバの第 2の実施形態の内部構成のブロック図である。  Next, a second embodiment of the server of the present invention will be described with reference to FIG. FIG. 14 is a block diagram of the internal configuration of the second exemplary embodiment of the server of the present invention.
[0172] 本実施形態のサーバは、図 14に示すように、キャリブレーション問合わせ受信部 1 401と、キャリブレーション計算部 1402と、サーバ問合せ受信部 1403と、問合わせ 結果送信部 1404と、時刻取得部 1405と、時刻リンク情報管理部 1406と、データ記 憶部 1407と、ネットワーク通信部 1408とを有する。  As shown in FIG. 14, the server of the present embodiment includes a calibration inquiry reception unit 1 401, a calibration calculation unit 1402, a server inquiry reception unit 1403, an inquiry result transmission unit 1404, a time It has an acquisition unit 1405, a time link information management unit 1406, a data storage unit 1407, and a network communication unit 1408.
[0173] キャリブレーション問合わせ受信部 1401は、図 13に示されるキャリブレーション問 合わせ受信部 1301と同様の機能を有する。キャリブレーション計算部 1402は、図 1 3に示されるキャリブレーション計算部 1302と同様の機能を有する。サーバ問合わせ 受信部 1403は、図 13に示されるサーバ問合わせ受信部 1303と同様の機能を有す る。問合わせ結果送信部 1404は、図 13に示される問合わせ結果送信部 1304と同 様の機能を有する。  The calibration inquiry receiving unit 1401 has the same function as the calibration inquiry receiving unit 1301 shown in FIG. The calibration calculation unit 1402 has the same function as the calibration calculation unit 1302 shown in FIG. The server inquiry reception unit 1403 has the same function as the server inquiry reception unit 1303 shown in FIG. The inquiry result transmission unit 1404 has the same function as the inquiry result transmission unit 1304 shown in FIG.
[0174] 本実施形態は、データ記憶部 1407に格納される情報に、時刻の概念を取り入れ ている。前述の本発明のサーバの第 1の実施形態では、データ記憶部 1306に格納 される情報は、時刻に関係なく一定である。一方、本施形態では、データ記憶部 140 7に記憶される情報は、時刻に基づいて分類される。  In the present embodiment, the concept of time is incorporated into the information stored in the data storage unit 1407. In the first embodiment of the server of the present invention described above, the information stored in the data storage unit 1306 is constant regardless of the time. On the other hand, in the present embodiment, information stored in the data storage unit 1407 is classified based on time.
[0175] 時刻取得部 1405は、サーバ問合わせ受信部 1403が情報を受信した時の時刻を 取得する。時刻取得部 1405は、取得した時刻を時刻リンク情報管理部 1406に送信 する。時刻リンク情報管理部 1406は、データ記憶部 1407に格納されている情報を 管理する。そして、時刻リンク情報管理部 1406は、一定の時刻に対応する情報をデ ータ記憶部 1407から抽出する。  [0175] The time acquisition unit 1405 acquires the time when the server inquiry reception unit 1403 receives the information. The time acquisition unit 1405 transmits the acquired time to the time link information management unit 1406. The time link information management unit 1406 manages information stored in the data storage unit 1407. Then, the time link information management unit 1406 extracts information corresponding to a certain time from the data storage unit 1407.
[0176] また、時刻リンク情報管理部 1406は、サーバ問合わせ受信部 1403が受信した情 報と、時刻取得部 1405が取得した時刻とに基づいて、データ記憶部 1407から情報 を抽出する。ここで、サーバ問合わせ受信部 1403は、ラベルに対するカメラの向き 及びカメラとラベルとの間の距離、及び、キャリブレーションパターンを含むラベルの 映像及びキャリブレーションにより計算されたカメラのパラメータのうちの少なくとも一 方を受信する。また、このサーバ問合わせ受信部 1403は、さらに、端末の存在する 地理的位置及びラベル IDのうちの少なくとも一方を受信するとしても良い。 Also, the time link information management unit 1406 extracts information from the data storage unit 1407 based on the information received by the server inquiry reception unit 1403 and the time acquired by the time acquisition unit 1405. Here, the server inquiry reception unit 1403 includes at least one of the camera direction with respect to the label, the distance between the camera and the label, the image of the label including the calibration pattern, and the camera parameters calculated by the calibration. one Receive. The server inquiry reception unit 1403 may further receive at least one of a geographical location where the terminal exists and a label ID.
[0177] ここで、図 14に示されるデータ記憶部 1407に記憶される情報について図 15を参 照して説明する。図 15は、本発明のサーバの第 2の実施形態のデータ記憶部に記 憶される情報の概念図である。  Here, information stored in data storage section 1407 shown in FIG. 14 will be described with reference to FIG. FIG. 15 is a conceptual diagram of information stored in the data storage unit of the second embodiment of the server of the present invention.
[0178] 図 15の(a)に示されるように、所定のラベル ID、カメラの位置、向きに対応して、 0 時には情報 Aが対応し、 1時には情報 Bが対応している。また、図 15の (b)に示され るように、所定のラベル ID、端末の位置、向きに対応して、 0時には情報 Xが対応し、 1時には情報 Yが対応している。もちろん、本発明の時間と情報の対応は、図 15に示 される例に限定されるものではない。例えば、時間範囲などは、例えば図 15に示され る以外にも、分単位で変えるとしても良い。なお、図 15に示される位置には、少なくと も、ラベルに対するカメラの向き及びカメラとラベルとの間の距離を含む。  As shown in (a) of FIG. 15, information A corresponds to 0 and information B corresponds to 0 at a time corresponding to a predetermined label ID, camera position, and orientation. Further, as shown in FIG. 15 (b), information X corresponds to 0 and information Y corresponds to 1 in correspondence with a predetermined label ID, the position and orientation of the terminal. Of course, the correspondence between time and information in the present invention is not limited to the example shown in FIG. For example, the time range may be changed in units of minutes other than that shown in FIG. 15, for example. Note that the positions shown in FIG. 15 include at least the orientation of the camera with respect to the label and the distance between the camera and the label.
[0179] このように、本実施形態のサーバは、時刻毎に、端末に送信する情報を変更する。  As described above, the server according to the present embodiment changes information to be transmitted to the terminal at each time.
例えば、本実施形態のサーバは、お昼と夜ではレストランのメニューも変わるため、時 刻によって、端末に提供するメニューも変化させる。また、本実施形態のサーバは、 時刻によって、デパートの食料品が安くなる場合があるため、端末に提供する価格情 報を変化させる。  For example, the server of the present embodiment changes the menu of the restaurant at noon and at night, so that the menu provided to the terminal also changes depending on the time. In addition, the server of the present embodiment changes the price information provided to the terminal because the grocery of the department store may become cheaper depending on the time of day.
[0180] このように、本実施形態のサーバは、前述の本発明のサーバの第 1の実施形態と同 様の効果を得ることができると共に、時刻によって、端末に送信する情報を変更する ことができる。  [0180] As described above, the server according to the present embodiment can obtain the same effects as those of the first embodiment of the server according to the present invention described above, and can change the information transmitted to the terminal according to the time. Can do.

Claims

請求の範囲 The scope of the claims
[1] 撮影対象を撮影した向き及び撮影対象との間の距離を計算するためのパターンを有 する撮影対象の映像を取得する映像取得手段と、  [1] Image acquisition means for acquiring an image of a shooting target having a pattern for calculating a direction of shooting the shooting target and a distance between the shooting target;
前記パターンの映像から、前記撮影対象を撮影した向きと前記撮影対象との間の 距離とを計算する計算手段とを備える端末。  A terminal comprising: calculation means for calculating a direction between the shooting target and a distance between the shooting target and the image of the pattern.
[2] 前記パターンは、前記端末のキャリブレーションを行うためのキャリブレーションパタ ーンと同じパターンであり、  [2] The pattern is the same pattern as a calibration pattern for calibrating the terminal,
前記計算手段は、前記パターンの映像と前記キャリブレーションにより得られたパラ メータとから、前記撮影対象を撮影した向きと前記撮影対象との間の距離とを計算す る請求項 1記載の端末。  2. The terminal according to claim 1, wherein the calculating unit calculates a direction between the shooting target and a distance between the shooting target and the image of the pattern and the parameters obtained by the calibration.
[3] 前記撮影対象との間の距離を測定する距離測定手段を備える請求項 1記載の端末 3. The terminal according to claim 1, further comprising distance measuring means for measuring a distance between the object to be imaged.
[4] 前記端末の位置を測定する位置測定手段を備える請求項 1記載の端末。 4. The terminal according to claim 1, further comprising position measuring means for measuring the position of the terminal.
[5] 前記撮影対象が、複数の撮影対象を互いに識別するための識別情報を備える請求 項 1記載の端末。 5. The terminal according to claim 1, wherein the shooting target includes identification information for identifying a plurality of shooting targets from each other.
[6] 前記撮影対象を撮影した向き及び撮影対象との間の距離を撮影対象が備えるバタ ーンに基づき計算するサーバとネットワークにより接続され、  [6] Connected by a network to a server that calculates a direction in which the subject is photographed and a distance between the subject to be photographed based on a pattern included in the subject.
前記映像取得手段により取得されたパターンの映像及び予め行われたキヤリブレ ーシヨンにより得られたパラメータを前記サーバに送信すると共に、前記サーバが前 記パターンの映像とパラメータとに基づいて計算した前記撮影対象を撮影した向き 及び撮影対象までの距離を、該サーバから受信する問合わせ手段を備える請求項 1 記載の端末。  The image of the pattern acquired by the image acquisition means and the parameter obtained by the calibration performed in advance are transmitted to the server, and the imaging target calculated by the server based on the image of the pattern and the parameter is transmitted. The terminal according to claim 1, further comprising inquiry means for receiving a direction from which the image is taken and a distance to the object to be photographed from the server.
[7] 前記端末力 受信した情報に基づいて端末に送信する情報を選択するサーバとネッ トワークにより接続され、  [7] The terminal power is connected by a network to a server that selects information to be transmitted to the terminal based on the received information,
前記撮影対象を撮影した向き及び撮影対象との間の距離、及び、前記パターンの 映像及び予め行われたキャリブレーションにより得られたパラメータの少なくともいず れか一方を、前記サーバに送信する送信手段と、  Transmitting means for transmitting to the server at least one of the direction in which the subject is photographed and the distance between the subject and the image of the pattern and the parameter obtained in advance by calibration. When,
前記サーバから送信された情報を受信する受信手段とを備える請求項 1記載の端 末。 The terminal according to claim 1, further comprising receiving means for receiving information transmitted from the server. The end.
[8] 前記送信手段は、  [8] The transmission means includes
前記端末の位置及び前記撮影対象が備える複数の撮影対象を互いに識別するた めの識別情報の少なくともいずれか一方を前記サーバに送信する請求項 7記載の端 末。  8. The terminal according to claim 7, wherein the terminal transmits at least one of identification information for identifying the position of the terminal and a plurality of shooting targets included in the shooting target to the server.
[9] 前記映像取得手段が取得した映像と、前記受信手段が受信した情報に基づく映像と を合成する合成手段を備える請求項 7記載の端末。  9. The terminal according to claim 7, further comprising a combining unit that combines the video acquired by the video acquiring unit and the video based on the information received by the receiving unit.
[10] 前記合成手段が合成した映像を、コンピュータグラッフィックス画像として表示する表 示手段を備える請求項 9記載の端末。 10. The terminal according to claim 9, further comprising display means for displaying the video synthesized by the synthesis means as a computer graphic image.
[11] 前記受信手段が受信した情報を、ウェブページとして表示する表示手段を備える請 求項 7記載の端末。 [11] The terminal according to claim 7, further comprising display means for displaying the information received by the receiving means as a web page.
[12] 端末の移動に伴って発生する、端末が取得する映像の変化に基づいて、前記端末 が移動した距離及び前記端末が移動した向きを検知する映像追随手段を備え、 前記合成手段は、前記映像取得手段が取得した映像と、該映像に表示する情報と を、前記映像追随手段が検知した前記端末が移動した距離及び前記端末が移動し た向きとに基づいて合成する請求項 9記載の端末。  [12] The image following means for detecting the distance moved by the terminal and the direction moved by the terminal based on the change in the image acquired by the terminal, which occurs with the movement of the terminal, and the combining means, 10. The video acquired by the video acquisition unit and the information displayed on the video are combined based on the distance moved by the terminal detected by the video tracking unit and the direction in which the terminal has moved. Terminal.
[13] 前記撮影対象を撮影した向き及び撮影対象との間の距離、及び、前記パターンを含 む撮影対象の映像及び予め行われたキャリブレーションにより得られたパラメータの うちの少なくともいずれか一方を端末力 受信する受信手段と、 [13] At least one of a direction in which the photographing target is photographed and a distance between the photographing target and an image of the photographing target including the pattern and a parameter obtained by a calibration performed in advance. Receiving means for receiving terminal power;
前記受信手段が受信した情報に基づ!、て、情報を記憶するデータ記憶手段から情 報を抽出する情報管理手段と、  Information management means for extracting information from data storage means for storing information based on the information received by the receiving means;
前記情報管理手段が抽出した情報を前記端末に送信する送信手段とを備えるサ ーバ。  A server comprising transmission means for transmitting the information extracted by the information management means to the terminal.
[14] 前記受信手段は、前記端末の位置及び前記撮影対象が備える複数の撮影対象を 互いに識別するための識別情報の少なくともいずれか一方を受信し、  [14] The receiving unit receives at least one of identification information for mutually identifying a position of the terminal and a plurality of shooting targets included in the shooting target,
前記情報管理手段は、前記受信手段が受信した、前記端末から送信された情報と 、前記端末の位置及び前記撮影対象が備える複数の撮影対象を互いに識別するた めの識別情報の少なくともいずれか一方とを用いて、前記データ記憶手段から情報 を抽出する請求項 13記載のサーバ。 The information management means is at least one of the information transmitted from the terminal received by the receiving means and the identification information for mutually identifying the position of the terminal and a plurality of photographing objects included in the photographing object And information from the data storage means 14. The server according to claim 13, wherein the server is extracted.
前記データ記憶手段に記憶されている情報は、 The information stored in the data storage means is
前記受信手段が受信した情報と時刻とに基づいて分類され、  Based on the information and time received by the receiving means,
前記情報管理手段は、前記受信手段が受信した情報と、該情報を受信した時刻と に基づいて前記データ記憶手段から情報を抽出する請求項 13記載のサーバ。  14. The server according to claim 13, wherein the information management means extracts information from the data storage means based on information received by the receiving means and a time when the information is received.
PCT/JP2004/015497 2004-10-20 2004-10-20 Terminal and server WO2006043319A1 (en)

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